Backhoe Dredging Backhoe Device Kinematics Modeling And System Design

With the growing dredging industry, dipperdredger play an irreplaceable role,dipperdredger’s special backhoe device make it can be competent for all kinds of differentdepth excavation and mining in the narrow workplace, and also in the hard soil excavationhas considerable advantages, and the importance of dipperdredger correspondingdipperdredger automated dredging research domestic and foreign the gap is still obvious.In order to pursue the dredging efficiency and the safety of mining process, the studyof the backhoe device automation of is particularly important.Dipperdredger intelligentautomation is mainly embodied in two aspects, one is the perfect SCADA host computersystem, and another is improving the slave computer automatic control system. This articleby studying the current situation of the domestic and international backhoe dredgerdevelopment and automatic control technology, relying on open fund project of ChinaTransportation Dredging Key Laboratory project, researchs backhoe dredger automaticcontrol system. Focusing on the backhoe device based on fieldbus and industrial Ethernetreal-time control problem, the discussion and the research of the system were presented inthis paper, its main contents are as follows:Combining the backhoe device structure and work characteristics, applying coordinatetransformation and D-H algorithm based on the angle-based compensation establishaccurate kinematic model of the backhoe device.4different spatial kinematics descriptionwas proposed, and different space variable mutual conversion solution was provided, for thepurpose to meet the needs of the path planning, the blind position and blind angle problemsolving method was proposed.In order to realize the backhoe device automatic control, trajectory planning methodmust be provided, on the basis of analysis of the existing trajectory planning methods andtechniques, the joint space trajectory planning strategies based on time criteria are proposedin this paper. According to B-spline curve fitting to get through to the point of the smoothcurve to meet the derivative continuity characteristics, as well as the genetic algorithm’sgood performance in global optimization strategy, and combine of the genetic algorithm andthe B-spline technology, set the given joint angle between the shortest time as theoptimization goal, with a constraint set by speed and acceleration within bounds, searchingfor the optimal value, it could not only gain interpolation trajectory that can work smoothstable on backhoe device, but also improve work efficiency.According to the backhoe dipperdredger device control requirements，starting from the point of view that using the whole ship network to control system, a backhoe devicehardware system was designed and also the hardware platform of the basic configurationwas presented, the control system based on PLC field network was established that solvedata collection and transmission problems of the backhoe dredger monitoring system. Thetest showed that the functions of the system can generally meet the requirements ofautomatic control.