CN117389257B - Excavator bucket operation movement planning analysis method - Google Patents
Excavator bucket operation movement planning analysis method Download PDFInfo
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- CN117389257B CN117389257B CN202311695015.XA CN202311695015A CN117389257B CN 117389257 B CN117389257 B CN 117389257B CN 202311695015 A CN202311695015 A CN 202311695015A CN 117389257 B CN117389257 B CN 117389257B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
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Abstract
The invention belongs to the technical field of automatic control of an excavator, and relates to an excavator bucket operation movement planning analysis method, which comprises the steps of determining a cutting angle and an excavating force of an objective excavator bucket for the objective working surface by acquiring a topography surveying parameter, a geological surveying parameter and a design excavating depth of the objective working surface, further executing single excavating operation on the objective working surface, monitoring a hydraulic value in a bucket hydraulic cylinder in real time during the single excavating operation of the objective excavator on the objective working surface, determining a bucket returning time point of the objective working surface by the objective excavator bucket for the objective working surface, and feeding back the end of the single excavating operation of the objective working surface, so as to make up the defect that the actual excavating movement path planning in the prior art has relatively less exploration or shallow analysis layer, thereby not only improving the working precision and working efficiency of the excavator bucket, but also effectively reducing the abrasion of the excavator bucket and more effectively reducing the occurrence of the condition of waste of working energy of the excavator.
Description
Technical Field
The invention belongs to the technical field of automatic control of excavators, and relates to an operation movement planning analysis method for a bucket of an excavator.
Background
The excavator has indispensable positions in earthworks, mining and other projects, and the working effect of the excavator is dependent on experience and pure-maturing skills of operators for a long time. However, with the rapid development of automation technology, an excavator with autonomous decision making and intelligent operation capabilities, namely an automatic or unmanned excavator, has become the focus of current research. In the research of the novel excavator, a planning strategy aiming at the bucket operation movement track is particularly critical, and particularly relates to travel movement path planning before operation, such as obstacle avoidance, optimal excavation point selection, actual excavation movement path planning in operation and material unloading path planning after operation.
Although the related technical field has made certain progress, after careful analysis, the research focus in the prior art is mainly focused on the travel motion path planning before the operation and the material unloading path planning after the operation, the exploration of the actual excavation motion path planning in the operation is relatively less or the analysis level is shallow, and the fine planning of the cutting angle, the excavation force and the back excavation of the bucket of the excavator is lacking, so that the rigid operation of the excavator cannot cope with different operation scenes, the excavation efficiency and the excavation effect are not only influenced, but also the energy is wasted in the excavation process of the excavator, or unnecessary abrasion is caused to the excavator.
Disclosure of Invention
In view of this, in order to solve the problems set forth in the background art, an excavator bucket operation movement planning analysis method is proposed.
The aim of the invention can be achieved by the following technical scheme: the invention provides a method for planning and analyzing the operation movement of a shovel bucket of an excavator, which comprises the following steps: s1, dividing an excavating working face: and acquiring related structural parameters of the target excavator bucket, and calculating the rated surface area of the target excavator bucket for single excavation, so as to divide an excavation operation scene into excavation operation surfaces.
S2, excavating and directional planning of a target working surface: recording an excavating working surface on which a single excavating operation is currently to be performed as a target working surface, and acquiring a terrain survey parameter, a geological survey parameter and a design excavating depth of the target working surfaceA plunge angle of the target excavator bucket for the target work surface is determined.
S3, planning the digging force of the target working face: and determining the digging force of the target excavator bucket aiming at the target working surface based on the cutting angle of the target excavator bucket aiming at the target working surface.
S4, executing target working face excavation operation: and executing single excavation operation on the target working surface according to the cutting angle and the excavation force of the target excavator bucket for the target working surface.
S5, target working surface bucket-collecting back digging planning: and monitoring the hydraulic value in the bucket hydraulic cylinder in real time during the single excavation operation of the target excavator on the target working surface, and determining the bucket-retracting and back-digging time point of the target excavator bucket aiming at the target working surface.
S6, feedback of end of the target working face excavation operation: and feeding back the end of the single excavation operation of the target working surface at the bucket returning time point of the target excavator bucket aiming at the target working surface.
Preferably, the relevant structural parameters include knife edge width, knife edge length and excavation filling angle.
Preferably, the calculating the rated surface area of the single excavation of the target excavator bucket includes: extracting the blade width in the structural parameters related to the target excavator bucketAnd knife edge lengthCalculating the cross-sectional area of the edge of the target excavator bucket，This was taken as the rated surface area for single excavation of the target excavator bucket.
Preferably, the terrain survey parameter comprises gradeHeight differenceAnd slope curvature。
The geological survey parameters include the type, density, porosity and water content of the soil layer, the distribution position, volume and hardness of each stone in the soil layer.
Preferably, the determining the cutting angle of the target excavator bucket for the target working surface includes: s21, analyzing a terrain cutting difficulty coefficient of the bucket tooth of the target excavator aiming at the target working surface according to the terrain survey parameter of the target working surfaceThe calculation formula is as follows:whereinThe ideal gradient, the ideal height difference and the allowable slope curvature threshold value of the preset conditions of cutting the bucket tooth of the excavator into the terrain are respectively set,and obtaining a range of a terrain cutting difficulty coefficient of the target excavator bucket tooth aiming at the target working surface by taking the natural constant, and determining a type of cutting angle range of the target excavator bucket tooth aiming at the target working surface according to a proper cutting angle range corresponding to the range of the cutting difficulty coefficient of the target excavator bucket tooth aiming at each terrain of the working surface stored in the WEB cloud.
S22, acquiring an excavation depth range of a target working surface, and determining two types of cutting angle ranges of the target excavator bucket teeth aiming at the target working surface according to the proper cutting angle ranges corresponding to the excavation depth ranges of the target working surface by the excavator bucket teeth stored in the WEB cloud.
S23, performing intersection processing on the first-class cutting angle range and the second-class cutting angle range of the target excavator bucket tooth aiming at the target working surface to obtain a reference cutting angle range of the target excavator bucket tooth aiming at the target working surface, and extracting each reference cutting angle in the range.
S24, constructing a three-dimensional excavation model of the target working surface by taking the rated surface area of the single excavation of the target excavator bucket as the bottom area and taking the design excavation depth of the target working surface as the height, combining the distribution position and the volume of each stone in the soil layer in the geological survey parameters of the target working surface, presenting each stone model at the corresponding position in the three-dimensional excavation model of the target working surface, simulating the running track of the target excavator bucket tooth cutting into the target working surface at each reference cutting angle in the three-dimensional excavation model of the target working surface, recording as each reference running track, and calculating the comprehensive cutting resistance coefficient of the target excavator bucket tooth in each reference running trackWhereinFor each reference number of the running track,。
s25, comparing comprehensive cutting resistance coefficients of the bucket teeth of the target excavator in each reference running track, screening minimum values, and taking the reference cutting angle corresponding to the reference running track as the cutting angle of the target excavator bucket to the target working surface.
Preferably, the calculating the comprehensive cutting resistance coefficient of the bucket tooth of the target excavator in each reference running track comprises the following steps: s241, according to the type and porosity of soil layer in geological survey parameters of the target working faceAnd water contentExtracting soil of target working surface soil layer stored in WEB cloudCorresponding soil looseness degree factorCalculating the soil cutting resistance coefficient of the bucket tooth of the target excavator on the reference running track，WhereinRespectively the preset soil layer soil reference porosity and the preset soil layer soil reference water content.
S242, marking the stone on the reference running track as related stone, further obtaining each related stone on each reference running track, and extracting the hardness of each related stone on each reference running track from the geological survey parameters of the target working surfaceWhereinIndicating the number of each block concerned,calculating specific cutting resistance coefficients of bucket teeth of target excavator on each reference running track，。
S243, by formulaObtaining the comprehensive cutting resistance coefficient of the bucket tooth of the target excavator in each reference running track,is a preset soil cutting resistance coefficient and a specificThe cut-in resistance coefficient corresponds to the weight duty cycle.
Preferably, the determining the digging force of the target excavator bucket for the target working surface includes: s31, according to the comprehensive cutting resistance coefficient of the bucket tooth running track corresponding to the cutting angle of the target excavator bucket to the target working surfaceFrom a decision modelObtaining a cut-in resistance level of a target excavator bucket tooth, whereinThe lower limit value and the upper limit value of the comprehensive cutting resistance coefficient range corresponding to the cutting resistance B level of the bucket tooth of the preset excavator are respectively set.
S32, acquiring the planned excavation force of the target excavator bucket for the target working surface according to the excavation force corresponding to each cutting resistance level of the bucket teeth of the excavator stored in the WEB cloud。
S33, acquiring the excavation depth of each excavated working surface of the target excavator on the same dayPlanned digging forceAnd the actual digging forceWhereinFor the number of each excavated work surface on the same day,calculating corrected excavation force of unit excavation depth of target excavator，WhereinFor each number of work surfaces excavated for the day.
S34, digging depth according to the design of the target working surfaceFrom the formulaAnd obtaining the excavating force of the target excavator bucket aiming at the target working surface.
Preferably, the determining the bucket back digging time point of the target excavator bucket for the target working surface includes: s51, analyzing the reference loading capacity of the target excavator bucket according to the related structural parameters of the target excavator bucket and the designed excavation depth of the target working surface.
S52, constructing a coordinate system taking the test loading capacity as a horizontal axis and the hydraulic value as a vertical axis according to the hydraulic value in the hydraulic cylinder of the target excavator bucket provided by the target excavator manufacturer and stored in the WEB cloud, generating a hydraulic performance test line diagram of the target excavator bucket hydraulic cylinder, introducing matlab software, and acquiring the best fitting function of the hydraulic performance test line diagram of the target excavator bucket hydraulic cylinder by using a fitting tool of the matlab software。
Substituting the reference load of the target excavator bucket into the best fit function to obtain the hydraulic value in the hydraulic cylinder of the target excavator bucket under the reference load, and marking the hydraulic value as。
S53, obtaining bucket liquid at each unit time point in the process of executing single excavation operation on a target working surface by a target excavatorHydraulic value in cylinderWhereinFor the number of each unit time point,from the formulaObtaining the hydraulic pressure change value in the bucket hydraulic cylinder in unit time of the target excavator,the first time during the single digging operation of the target working surface for the target excavatorThe hydraulic pressure value in the bucket cylinder at a unit time point,number of time points per unit.
S54, if the target excavator executes a single excavating operation on the target working surface, the hydraulic value in the bucket hydraulic cylinder at a certain unit time pointSatisfy the following requirementsAnd taking the unit time point as a bucket returning digging time point of the target excavator bucket aiming at the target working surface.
Preferably, the analyzing the reference load amount of the target excavator bucket includes: according to the knife edge width in the related structural parameters of the target excavator bucketAnd a digging filling angleCombined with targets asDesign depth of excavation for industrial surfacesFrom the formulaObtaining a digging capacity of the target excavator bucket for the target working surface, whereinIs the circumference ratio.
Extracting soil layer soil density in geological survey parameters of target working faceFrom the formulaA reference load of the target excavator bucket is obtained.
Compared with the prior art, the invention has the following beneficial effects: (1) According to the invention, the excavation operation scene is divided into the excavation operation surfaces according to the rated surface area of the single excavation of the target excavator bucket, and the targeted excavation is better carried out according to the characteristics of each excavation operation surface, so that the excavation precision and the excavation efficiency are improved.
(2) According to the invention, the topography, geology and design excavation depth of a target working surface are integrated, each reference cutting-in angle of the bucket tooth of the excavator for the target working surface is obtained, the visual model is utilized to simulate the running track of the bucket tooth of the target excavator for cutting into the target working surface at each reference cutting-in angle, the running track and the resistance condition of the bucket are more intuitively observed, the reference cutting-in angle of the minimum comprehensive cutting-in resistance coefficient corresponding to the reference running track is taken as the cutting-in angle of the bucket of the target excavator for the target working surface, the minimum cutting-in resistance of the bucket tooth when the target working surface is excavated by the bucket of the target excavator is realized, and further the abrasion of the bucket of the target excavator is effectively helped to be reduced.
(3) According to the invention, the cutting resistance grade of the bucket tooth of the target excavator bucket is obtained, the planned excavating force of the target excavator bucket for the target working surface is determined, the force correction is carried out by combining the related parameters of the excavated working surface on the same day, the excavating force of the target excavator bucket for the target working surface is determined, and the target working surface is helped to better select the proper excavating force, so that the condition of excavating energy waste of the excavator is effectively avoided, and the excavating quality and excavating efficiency of the target working surface are more ensured.
(4) According to the invention, the hydraulic value in the bucket hydraulic cylinder is monitored in real time in the process of executing single excavation operation on the target working surface by the target excavator, so that the bucket reverse excavation time point of the target excavator bucket aiming at the target working surface is accurately determined, the damage to equipment caused by the excavator under the condition of excessive excavation is avoided, and the service life of the excavator bucket is prolonged.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of the steps of the method of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the invention provides a method for analyzing the movement plan of the excavator bucket operation, which comprises the following steps: s1, dividing an excavating working face: and acquiring related structural parameters of the target excavator bucket, and calculating the rated surface area of the target excavator bucket for single excavation, so as to divide an excavation operation scene into excavation operation surfaces.
In particular, the relevant structural parameters include knife edge width, knife edge length and excavation filling angle.
It should be noted that, during the design and manufacturing process of the target excavator, a designer may store the related structural parameters of the target excavator in the storage unit of the control system through a preset program or an artificial intelligence algorithm, so that the target excavator bucket may automatically obtain the related structural parameters.
Specifically, the calculating the rated surface area of the single excavation of the target excavator bucket comprises the following steps: extracting the blade width in the structural parameters related to the target excavator bucketAnd knife edge lengthCalculating the cross-sectional area of the edge of the target excavator bucket，This was taken as the rated surface area for single excavation of the target excavator bucket.
According to the embodiment of the invention, the excavation operation scene is divided into the excavation operation surfaces according to the rated surface area of the single excavation of the target excavator bucket, and the targeted excavation is better carried out according to the characteristics of each excavation operation surface, so that the excavation precision and the excavation efficiency are improved.
S2, excavating and directional planning of a target working surface: recording an excavating working surface on which a single excavating operation is currently to be performed as a target working surface, and acquiring a terrain survey parameter, a geological survey parameter and a design excavating depth of the target working surfaceA plunge angle of the target excavator bucket for the target work surface is determined.
In particular, the terrain survey parameters include slopeHeight differenceAnd slope curvature。
The geological survey parameters include the type, density, porosity and water content of the soil layer, the distribution position, volume and hardness of each stone in the soil layer.
The terrain survey parameters of the target working surface are obtained by monitoring and acquiring the target excavator by combining ground monitoring equipment, and particularly the ground monitoring equipment monitors and transmits monitoring data of the ground monitoring equipment to a data acquisition unit of the target excavator through a wireless communication network.
The designed excavation depth of the target working surface and the type, density, porosity and water content of soil layer in geological survey parameters are obtained by manual early monitoring and are input into a storage unit of a control system of the target excavator in advance according to a preset program.
It should be further noted that, by placing the total station on the target working surface, the measurement mode is selected and set, and the gradient, the height difference and the slope curvature of the target working surface are monitored and acquired.
The type, density, porosity and water content of soil layer of target working surface are obtained by manually collecting soil sample and making test, the distribution position, volume and hardness of every stone in soil layer are obtained by means of ultrasonic detector, in which it is specially interpreted that the stone hardness is influenced by elastic property of medium when the ultrasonic wave is propagated in the soil medium, and the hardness of stone directly influences the speed of ultrasonic wave propagated in it, and the hardness of stone can be deduced by measuring the transmission speed of reflected signal after the ultrasonic wave is contacted with stone in soil layer, and the ultrasonic detector can be used for detecting reference stone with known hardness and obtaining transmission speed of reflected signal, and the above-mentioned method can be used for obtaining the transmission speed of reflected signal of reference stone with known hardness, and its application method is characterized by thatThe hardness of the detected stone is obtained.
Specifically, the determining a cut-in angle of the target excavator bucket for the target working surface includes: s21, analyzing a terrain cutting difficulty coefficient of the bucket tooth of the target excavator aiming at the target working surface according to the terrain survey parameter of the target working surfaceThe calculation formula is as follows:whereinThe ideal gradient, the ideal height difference and the allowable slope curvature threshold value of the preset conditions of cutting the bucket tooth of the excavator into the terrain are respectively set,and obtaining a range of a terrain cutting difficulty coefficient of the target excavator bucket tooth aiming at the target working surface by taking the natural constant, and determining a type of cutting angle range of the target excavator bucket tooth aiming at the target working surface according to a proper cutting angle range corresponding to the range of the cutting difficulty coefficient of the target excavator bucket tooth aiming at each terrain of the working surface stored in the WEB cloud.
S22, acquiring an excavation depth range of a target working surface, and determining two types of cutting angle ranges of the target excavator bucket teeth aiming at the target working surface according to the proper cutting angle ranges corresponding to the excavation depth ranges of the target working surface by the excavator bucket teeth stored in the WEB cloud.
The determination process of the cutting angle range of the bucket tooth of the target excavator aiming at the target working surface is as follows: and acquiring a proper cutting angle range corresponding to a range where a target excavator bucket tooth is positioned for a terrain cutting difficulty coefficient of a target working surface, and taking the proper cutting angle range as a cutting angle range of the target excavator bucket tooth for the target working surface.
The determination process of the two types of cutting angle ranges of the target excavator bucket tooth aiming at the target working surface comprises the following steps: and acquiring an appropriate cutting angle range corresponding to an excavation depth range where the design excavation depth of the target excavator bucket tooth aiming at the target working surface is located, and taking the appropriate cutting angle range as a second-class cutting angle range of the target excavator bucket tooth aiming at the target working surface.
S23, performing intersection processing on the first-class cutting angle range and the second-class cutting angle range of the target excavator bucket tooth aiming at the target working surface to obtain a reference cutting angle range of the target excavator bucket tooth aiming at the target working surface, and extracting each reference cutting angle in the range.
S24, constructing a three-dimensional excavation model of the target working surface by taking the rated surface area of the single excavation of the target excavator bucket as the bottom area and taking the design excavation depth of the target working surface as the height, combining the distribution position and the volume of each stone in the soil layer in the geological survey parameters of the target working surface, presenting each stone model at the corresponding position in the three-dimensional excavation model of the target working surface, simulating the running track of the target excavator bucket tooth cutting into the target working surface at each reference cutting angle in the three-dimensional excavation model of the target working surface, recording as each reference running track, and calculating the comprehensive cutting resistance coefficient of the target excavator bucket tooth in each reference running trackWhereinFor each reference number of the running track,。
s25, comparing comprehensive cutting resistance coefficients of the bucket teeth of the target excavator in each reference running track, screening minimum values, and taking the reference cutting angle corresponding to the reference running track as the cutting angle of the target excavator bucket to the target working surface.
Specifically, the calculating the comprehensive cutting resistance coefficient of the bucket tooth of the target excavator in each reference running track comprises the following steps: s241, according to the type and porosity of soil layer in geological survey parameters of the target working faceAnd water contentExtracting a soil loosening degree factor corresponding to the soil type of the soil layer of the target working surface stored in the WEB cloudCalculating the soil cutting resistance coefficient of the bucket tooth of the target excavator on the reference running track，WhereinRespectively the preset soil layer soil reference porosity and the preset soil layer soil reference water content.
S242, marking the stone on the reference running track as related stone, further obtaining each related stone on each reference running track, and extracting the hardness of each related stone on each reference running track from the geological survey parameters of the target working surfaceWhereinIndicating the number of each block concerned,calculating specific cutting resistance coefficients of bucket teeth of target excavator on each reference running track，。
S243, by formulaObtaining the comprehensive cutting resistance coefficient of the bucket tooth of the target excavator in each reference running track,the weight ratio corresponding to the preset soil cutting resistance coefficient and the specific cutting resistance coefficient.
According to the embodiment of the invention, the topography, geology and design excavation depth of the target working surface are integrated, each reference cutting-in angle of the bucket teeth of the excavator bucket aiming at the target working surface is obtained, the running track of the bucket teeth of the target excavator in each reference cutting-in angle cutting-in the target working surface is simulated by utilizing the visual model, the running track and the resistance condition of the bucket are more intuitively observed, the reference cutting-in angle of the minimum comprehensive cutting-in resistance coefficient corresponding to the reference running track is taken as the cutting-in angle of the bucket of the target excavator aiming at the target working surface, the minimum cutting-in resistance of the bucket teeth when the target working surface is excavated by the bucket of the target excavator is realized, and the energy consumption of the excavator is reduced while the abrasion of the bucket of the target excavator is reduced.
S3, planning the digging force of the target working face: and determining the digging force of the target excavator bucket aiming at the target working surface based on the cutting angle of the target excavator bucket aiming at the target working surface.
Specifically, the determining the excavation force of the target excavator bucket for the target working surface includes: s31, according to the comprehensive cutting resistance coefficient of the bucket tooth running track corresponding to the cutting angle of the target excavator bucket to the target working surfaceFrom a decision modelObtaining a cut-in resistance level of a target excavator bucket tooth, whereinThe lower limit value and the upper limit value of the comprehensive cutting resistance coefficient range corresponding to the cutting resistance B level of the bucket tooth of the preset excavator are respectively set.
S32, cloud end according to WEBThe method comprises the steps of storing excavating forces corresponding to all cutting resistance levels of bucket teeth of an excavator, and obtaining planned excavating forces of a target excavator bucket for a target working surface。
S33, acquiring the excavation depth of each excavated working surface of the target excavator on the same dayPlanned digging forceAnd the actual digging forceWhereinFor the number of each excavated work surface on the same day,calculating corrected excavation force of unit excavation depth of target excavator，WhereinFor each number of work surfaces excavated for the day.
The above-mentioned target excavator can automatically analyze and record the design of the excavation force of the excavation operation every time the excavation operation is executed on the excavation work surface, the moment sensor and the depth sensor on the working device can also automatically monitor and record the actual excavation force and the excavation depth, and the actual excavation force and the actual excavation depth are uploaded into the control system storage unit, so that the target excavator can obtain the excavation depth, the planned excavation force and the actual excavation force of each excavation work surface in the current day from the control system storage unit.
S34, according toDesign digging depth of target working surfaceFrom the formulaAnd obtaining the excavating force of the target excavator bucket aiming at the target working surface.
According to the embodiment of the invention, the planned excavating force of the target excavator bucket for the target working surface is determined by acquiring the cutting resistance level of the bucket teeth of the target excavator bucket, the excavating force of the target excavator bucket for the target working surface is determined by combining the related parameters of the excavated working surface on the same day, and the excavating force of the target excavator bucket for the target working surface is determined, so that the target working surface is helped to better select the proper excavating force, the condition of excavating energy waste of the excavator is effectively avoided, and the excavating quality and the excavating efficiency of the target working surface are ensured.
S4, executing target working face excavation operation: and executing single excavation operation on the target working surface according to the cutting angle and the excavation force of the target excavator bucket for the target working surface.
S5, target working surface bucket-collecting back digging planning: and monitoring the hydraulic value in the bucket hydraulic cylinder in real time during the single excavation operation of the target excavator on the target working surface, and determining the bucket-retracting and back-digging time point of the target excavator bucket aiming at the target working surface.
Specifically, the determining a bucket back digging time point of the target excavator bucket for the target working surface includes: s51, analyzing the reference loading capacity of the target excavator bucket according to the related structural parameters of the target excavator bucket and the designed excavation depth of the target working surface.
S52, constructing a coordinate system taking the test loading capacity as a horizontal axis and the hydraulic value as a vertical axis according to the hydraulic value in the hydraulic cylinder of the target excavator bucket provided by the target excavator manufacturer and stored in the WEB cloud, generating a hydraulic performance test line diagram of the target excavator bucket hydraulic cylinder, introducing matlab software, and acquiring the best fitting function of the hydraulic performance test line diagram of the target excavator bucket hydraulic cylinder by using a fitting tool of the matlab software。
Substituting the reference load of the target excavator bucket into the best fit function to obtain the hydraulic value in the hydraulic cylinder of the target excavator bucket under the reference load, and marking the hydraulic value as。
S53, acquiring hydraulic values in bucket hydraulic cylinders at each unit time point in the process of executing single excavation operation on a target working surface by the target excavatorWhereinFor the number of each unit time point,from the formulaObtaining the hydraulic pressure change value in the bucket hydraulic cylinder in unit time of the target excavator,the first time during the single digging operation of the target working surface for the target excavatorThe hydraulic pressure value in the bucket cylinder at a unit time point,number of time points per unit.
S54, if the target excavator executes a single excavating operation on the target working surface, the hydraulic value in the bucket hydraulic cylinder at a certain unit time pointSatisfy the following requirementsAnd taking the unit time point as a bucket returning digging time point of the target excavator bucket aiming at the target working surface.
Specifically, the analyzing the reference load amount of the target excavator bucket includes: according to the knife edge width in the related structural parameters of the target excavator bucketAnd a digging filling angleDesign excavation depth in combination with target work surfaceFrom the formulaObtaining a digging capacity of the target excavator bucket for the target working surface, whereinIs the circumference ratio.
Extracting soil layer soil density in geological survey parameters of target working faceFrom the formulaA reference load of the target excavator bucket is obtained.
S6, feedback of end of the target working face excavation operation: and feeding back the end of the single excavation operation of the target working surface at the bucket returning time point of the target excavator bucket aiming at the target working surface.
The process of feeding back the end of the single excavation operation of the target work surface is to send a bucket returning excavation signal to the target excavator control system, and prompt the end of the excavation operation, and the bucket is subjected to bucket returning processing at the bucket returning excavation time point of the target work surface.
According to the embodiment of the invention, the hydraulic value in the bucket hydraulic cylinder is monitored in real time in the process of executing single excavation operation on the target working surface by the target excavator, so that the bucket retraction time point of the target excavator bucket for the target working surface is accurately determined, the damage to equipment caused by the excavator under the condition of excessive excavation is avoided, and the service life of the excavator bucket is prolonged.
The foregoing is merely illustrative and explanatory of the principles of this invention, as various modifications and additions may be made to the specific embodiments described, or similar arrangements may be substituted by those skilled in the art, without departing from the principles of this invention or beyond the scope of this invention as defined in the claims.
Claims (5)
1. The method for analyzing the movement plan of the excavator bucket operation is characterized by comprising the following steps:
s1, dividing an excavating working face: acquiring related structural parameters of a target excavator bucket, calculating the rated surface area of single excavation of the target excavator bucket, and dividing an excavation operation scene into excavation operation surfaces according to the rated surface area;
s2, excavating and directional planning of a target working surface: recording an excavating working surface on which a single excavating operation is currently to be performed as a target working surface, and acquiring a terrain survey parameter, a geological survey parameter and a design excavating depth of the target working surfaceDetermining a cutting angle of a target excavator bucket for a target working surface;
s3, planning the digging force of the target working face: determining the digging force of the target excavator bucket for the target working surface based on the cutting angle of the target excavator bucket for the target working surface;
s4, executing target working face excavation operation: performing single excavation operation on the target working surface according to the cutting angle and the excavation force of the target excavator bucket for the target working surface;
s5, target working surface bucket-collecting back digging planning: monitoring the hydraulic value in a bucket hydraulic cylinder in real time during the single excavation operation of the target excavator on the target working surface, and determining the bucket-retracting and back-digging time point of the target excavator bucket aiming at the target working surface;
s6, feedback of end of the target working face excavation operation: feeding back the end of the single excavation operation of the target working surface at the bucket returning time point of the target excavator bucket aiming at the target working surface;
the determining a plunge angle of the target excavator bucket for the target work surface includes: s21, analyzing a terrain cutting difficulty coefficient of the bucket tooth of the target excavator aiming at the target working surface according to the terrain survey parameter of the target working surfaceThe calculation formula is as follows: />Wherein->Ideal slope, ideal height difference and allowable slope curvature threshold value for respectively preset conditions of cutting of the bucket tooth of the excavator into the terrain, +.>The method comprises the steps of obtaining a range of a terrain cutting difficulty coefficient of a target excavator bucket tooth aiming at a target working surface, and determining a type of cutting angle range of the target excavator bucket tooth aiming at the target working surface according to a proper cutting angle range corresponding to the range of each terrain cutting difficulty coefficient of the target working surface by the excavator bucket tooth stored in a WEB cloud;
s22, acquiring an excavation depth range of a target working surface, and determining two types of cutting angle ranges of the target excavator bucket teeth aiming at the target working surface according to the proper cutting angle ranges corresponding to the excavation depth ranges of the target working surface by the excavator bucket teeth stored in the WEB cloud;
s23, performing intersection processing on a first-class cutting angle range and a second-class cutting angle range of the target excavator bucket tooth aiming at the target working surface to obtain a reference cutting angle range of the target excavator bucket tooth aiming at the target working surface, and extracting each reference cutting angle in the range;
s24, constructing a three-dimensional excavation model of the target working surface by taking the rated surface area of the single excavation of the target excavator bucket as the bottom area and taking the design excavation depth of the target working surface as the height, combining the distribution position and the volume of each stone in the soil layer in the geological survey parameters of the target working surface, presenting each stone model at the corresponding position in the three-dimensional excavation model of the target working surface, simulating the running track of the target excavator bucket tooth cutting into the target working surface at each reference cutting angle in the three-dimensional excavation model of the target working surface, recording as each reference running track, and calculating the comprehensive cutting resistance coefficient of the target excavator bucket tooth in each reference running trackWherein->For the number of each reference movement track +.>；
S25, comparing comprehensive cutting resistance coefficients of the bucket teeth of the target excavator in each reference running track, screening the minimum value of the comprehensive cutting resistance coefficients, and taking the reference cutting angle corresponding to the reference running track as the cutting angle of the target excavator bucket to the target working surface;
the calculation of the comprehensive cutting resistance coefficient of the bucket tooth of the target excavator in each reference running track comprises the following steps: s241, according to the type and porosity of soil layer in geological survey parameters of the target working faceAnd water content->Extracting a soil loosening degree factor (I) corresponding to the soil type of the soil layer of the target working surface stored in the WEB cloud>Calculating the soil cutting resistance coefficient of the target excavator bucket tooth on the reference running track +.>，/>WhereinRespectively presetting soil layer soil reference porosity and reference water content;
s242, marking the stone on the reference running track as related stone, further obtaining each related stone on each reference running track, and extracting the hardness of each related stone on each reference running track from the geological survey parameters of the target working surfaceWherein->Indicating the number of each stone concerned, +.>Calculating a specific cutting resistance coefficient of the bucket tooth of the target excavator in each reference running track +.>，/>；
S243, by formulaObtaining the comprehensive cutting resistance coefficient of the target excavator bucket tooth on each reference running track, < ->The method comprises the steps that a preset soil cutting resistance coefficient and a weight duty ratio corresponding to a specific cutting resistance coefficient are adopted;
the determining the digging strength of the target excavator bucket for the target working surface comprises the following steps: s31, according to the comprehensive cutting resistance coefficient of the bucket tooth running track corresponding to the cutting angle of the target excavator bucket to the target working surfaceFrom decision model->Obtaining a cut-in resistance level of a target excavator bucket tooth, wherein +.>The lower limit value and the upper limit value of the comprehensive cutting resistance coefficient range corresponding to the cutting resistance B level of the bucket tooth of the preset excavator are respectively set;
s32, acquiring the planned excavation force of the target excavator bucket for the target working surface according to the excavation force corresponding to each cutting resistance level of the bucket teeth of the excavator stored in the WEB cloud；
S33, acquiring the excavation depth of each excavated working surface of the target excavator on the same dayPlanned digging effort->And actual digging force +.>Wherein->For the number of each excavated work surface on the same day, < > for each excavated work surface on the same day>Calculating corrected excavation force of unit excavation depth of the target excavator>，/>Wherein->The number of the excavated work surfaces on the same day is the number of the excavated work surfaces on the same day;
s34, digging depth according to the design of the target working surfaceBy the formula->Obtaining the digging force of the target excavator bucket aiming at the target working surface;
the determining a bucket back digging time point of the target excavator bucket for the target working surface comprises the following steps: s51, analyzing the reference loading capacity of the target excavator bucket according to the related structural parameters of the target excavator bucket and the designed excavation depth of the target working surface;
s52, constructing a coordinate system taking the test loading capacity as a horizontal axis and the hydraulic value as a vertical axis according to the hydraulic value in the hydraulic cylinder of the target excavator bucket provided by the target excavator manufacturer and stored in the WEB cloud, generating a hydraulic performance test line diagram of the target excavator bucket hydraulic cylinder, introducing matlab software, and acquiring the best fitting function of the hydraulic performance test line diagram of the target excavator bucket hydraulic cylinder by using a fitting tool of the matlab software；
Reference device for target excavator bucketSubstituting the load into the best fit function to obtain the hydraulic value in the hydraulic cylinder of the target excavator bucket under the reference load, and recording the hydraulic value as；
S53, acquiring hydraulic values in bucket hydraulic cylinders at each unit time point in the process of executing single excavation operation on a target working surface by the target excavatorWherein->For the number of each unit time point +.>From the formulaObtaining a hydraulic variation value in a bucket hydraulic cylinder of the target excavator in unit time, < >>The first step of executing a single excavation operation for a target excavator on a target work surface>Hydraulic value in bucket cylinder for each unit time point, for example>The number of unit time points;
s54, if the target excavator executes a single excavating operation on the target working surface, the hydraulic value in the bucket hydraulic cylinder at a certain unit time pointSatisfy->And taking the unit time point as a bucket returning digging time point of the target excavator bucket aiming at the target working surface.
2. The excavator bucket work movement plan analysis method of claim 1 wherein: the related structural parameters comprise a knife edge width, a knife edge length and an excavation filling angle.
3. The method for analyzing the movement plan of the excavator bucket operation according to claim 2, wherein the method comprises the following steps: the calculating of the rated surface area of a single excavation of a target excavator bucket includes: extracting the blade width in the structural parameters related to the target excavator bucketAnd knife edge length->Calculating the cross-sectional area of the edge of the target excavator bucket +.>，/>This was taken as the rated surface area for single excavation of the target excavator bucket.
4. The method for analyzing the movement plan of the excavator bucket operation according to claim 2, wherein the method comprises the following steps: the terrain survey parameter includes slopeDifference in elevation->And slope curvature->；
The geological survey parameters include the type, density, porosity and water content of the soil layer, the distribution position, volume and hardness of each stone in the soil layer.
5. The excavator bucket work movement plan analysis method of claim 1 wherein: the analysis target shovel bucket reference load amount includes: according to the knife edge width in the related structural parameters of the target excavator bucketAnd dig fill angle +.>Design digging depth combined with target working face>From the formulaObtaining a digging capacity of the target excavator bucket for the target working surface, whereinIs the circumference ratio;
extracting soil layer soil density in geological survey parameters of target working faceBy the formula->A reference load of the target excavator bucket is obtained.
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