装载机铲装运动作业轨迹规划研究

Loader Based on Machine Vision Intelligent Shoveling Method

装载机正在往智能化、节能化、低能耗趋势发展,为装载机规划一条低能耗、高效率的铲装轨迹尤为重要。现阶段验证装载机轨迹最佳方法未考虑工作环境带来的测量误差,近而规划铲装轨迹不能适用与真实工况的装载机。本文根据经验公式及插入深度公式混合计算,结合软件算法设计出比较接近真实工况的一次铲装曲线轨迹和混合铲装轨迹曲线轨迹,并将两条轨迹曲线输入到装载机工作装置试验台分进行测试验证。相比较传统的仿真模拟验证方法,本文采用真实工作台收集数据,还原铲装作业真实环境,引入铲斗满斗率和作业阻力双重标准进行评判。实验结果表明,对于相同作业量、相同时间内混合铲装轨迹法所受的力小于一次铲装轨迹法,且满斗率混合铲装法高于一次铲装法。

Loaders are developing towards intelligence,energy saving,and low energy consumption.It is particularly important to plan a low energy consumption and high efficiency shoveling trajectory for the loaders.At this stage,the best method for verify-ing the loader trajectory does not consider the measurement error caused by the working environment,and the planned shoveling trajectory cannot be applied to the loader under real working conditions.Based on the mixed calculation of the empirical formula and the insertion depth formula,combined with the software algorithm,this paper designs a shovel loading curve trajectory and a mixed shovel loading trajectory that are closer to the real working conditions,and input the two trajectory curves to the loader working device test bench.Test and verify.Compared with the traditional simulation verification method,this paper adopts the real workbench to collect data,restores the real environment of shovel loading operation,and introduces the double standard of bucket full rate and operation resistance for judgment.The experimental results show that,for the same workload and the same time,the force of the hybrid shovel loading trajectory method is less than that of the one shovel loading trajectory method,and the full bucket ratio hybrid shovel loading method is higher than that of the one shovel loading method.