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A platform for research: civil engineering, architecture and urbanism
Electric shovel excavation trajectory planning method based on stack surface scanning and grey wolf algorithm
The invention provides an electric shovel excavation trajectory planning method based on stack surface scanning and a grey wolf algorithm, and the method comprises the following steps: scanning a material stack surface through a laser radar, and completing the modeling of the material surface; mining trajectory planning is carried out based on the grey wolf algorithm according to modeling of the material surface, and the method specifically comprises the steps that a polynomial interpolation method is adopted to express a mining trajectory, and variables to be optimized are determined; the lifting pressure, the pushing pressure, the lifting speed and the pushing speed are solved based on a kinematics and dynamics model of the electric shovel; calculating the excavation volume based on the stack surface data of laser scanning; and constructing a target function, determining constraint conditions, and solving an excavation track of the electric shovel based on a grey wolf algorithm. According to the multi-target excavation track rapid planning method comprehensively considering the excavation energy consumption and the excavation time, the intelligent operation mode of the mining electric shovel can be achieved.
本发明提供了一种基于堆面扫描和灰狼算法的电铲挖掘轨迹规划方法，包括如下步骤：采用激光雷达对物料堆面扫描，完成对物料表面的建模；根据物料表面的建模基于灰狼算法进行挖掘轨迹规划，具体包括：采用多项式插值法来表述挖掘轨迹，确定待优化变量；基于电铲的运动学与动力学模型求解提升压力、推压力、提升速度和推压速度；基于激光扫描的堆面数据计算挖掘体积；构建目标函数，确定约束条件，基于灰狼算法求解电铲的挖掘轨迹。本发明综合考虑挖掘能耗、挖掘时间的多目标挖掘轨迹快速规划方法，可以实现矿用电铲的智能化作业模式。
Electric shovel excavation trajectory planning method based on stack surface scanning and grey wolf algorithm
The invention provides an electric shovel excavation trajectory planning method based on stack surface scanning and a grey wolf algorithm, and the method comprises the following steps: scanning a material stack surface through a laser radar, and completing the modeling of the material surface; mining trajectory planning is carried out based on the grey wolf algorithm according to modeling of the material surface, and the method specifically comprises the steps that a polynomial interpolation method is adopted to express a mining trajectory, and variables to be optimized are determined; the lifting pressure, the pushing pressure, the lifting speed and the pushing speed are solved based on a kinematics and dynamics model of the electric shovel; calculating the excavation volume based on the stack surface data of laser scanning; and constructing a target function, determining constraint conditions, and solving an excavation track of the electric shovel based on a grey wolf algorithm. According to the multi-target excavation track rapid planning method comprehensively considering the excavation energy consumption and the excavation time, the intelligent operation mode of the mining electric shovel can be achieved.
本发明提供了一种基于堆面扫描和灰狼算法的电铲挖掘轨迹规划方法，包括如下步骤：采用激光雷达对物料堆面扫描，完成对物料表面的建模；根据物料表面的建模基于灰狼算法进行挖掘轨迹规划，具体包括：采用多项式插值法来表述挖掘轨迹，确定待优化变量；基于电铲的运动学与动力学模型求解提升压力、推压力、提升速度和推压速度；基于激光扫描的堆面数据计算挖掘体积；构建目标函数，确定约束条件，基于灰狼算法求解电铲的挖掘轨迹。本发明综合考虑挖掘能耗、挖掘时间的多目标挖掘轨迹快速规划方法，可以实现矿用电铲的智能化作业模式。
Electric shovel excavation trajectory planning method based on stack surface scanning and grey wolf algorithm
一种基于堆面扫描和灰狼算法的电铲挖掘轨迹规划方法
WU JUAN (author) / FENG YINNAN (author) / KOU ZIMING (author) / GUO CHENHAO (author) / LIN BAOGUO (author)
2023-09-05
Patent
Electronic Resource
Chinese
IPC:
G01C
Messen von Entfernungen, Höhen, Neigungen oder Richtungen
,
MEASURING DISTANCES, LEVELS OR BEARINGS
/
E02F
Baggern
,
DREDGING
/
G01S
RADIO DIRECTION-FINDING
,
Funkpeilung
/
G06F
ELECTRIC DIGITAL DATA PROCESSING
,
Elektrische digitale Datenverarbeitung
/
G06N
COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
,
Rechnersysteme, basierend auf spezifischen Rechenmodellen
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