Research On Excavator Autonomous Operation Planning And Control

At present,the construction quality of hydraulic excavator depends on the skilled degree and construction experience of the construction personnel.The work of hydraulic excavator is highly dependent on manual work,and it can not have manual participation for some toxic and harmful special operation occasions.With the variety of modern engineering construction types,in order to improve the adaptive ability of mechanical equipment and realize intelligent and autonomous flexible operation mode,modern operation mode puts forward more strict requirements for construction machinery.The organic combination of mining machinery and intelligent control technology is an important embodiment of the modernization of construction machinery control system.The realization of autonomous operation of excavators is also one of the urgent problems to be solved in the field of contemporary mechanical engineering,which will promote the development and innovation of mining machinery from traditional manual control to adaptive autonomous operation.This paper focuses on excavator autonomous operation planning and autonomous operation control:The kinematics modeling and analysis of the excavator working device are carried out,and the pose,joint,driving and detection space are discussed.The solid modeling and geometric parameters collection of the excavator are completed through Solid Works and Auto CAD respectively,and the standard D-H coordinate system of the working device is established,and the forward and inverse kinematics solution and the transformation from joint space to driving space are carried out.The task analysis and trajectory planning are studied.The open four link simulation model of the working device is established.The operation area of the working device is determined by Monte Carlo method.Taking the typical point digging of the stacking material as the working object,a key point in the complete operation loop path is selected for analysis.The fifth polynomial method is used to analyze the excavation process in the joint space The kinematics simulation and analysis of the continuous path and the point-to-point segment path after mining are carried out.In this paper,the electro-hydraulic control system for autonomous operation of excavator is designed.Taking PLC + HMI as the control architecture,the main hardware selection of the electro-hydraulic system,the programming of PLC and the design of man-machine interface are completed.The two operation control modes of manual operation and autonomous operation are realized.The optimization scheme for the problem of insufficient control accuracy of the electro-hydraulic system for autonomous operation of excavator is put forward.Through the joint simulation experiment of trajectory planning and driving space,the correctness of the mapping relationship from joint trajectory planning to driving space is verified.Through the control experiment of the electro-hydraulic system,it is proved that the electro-hydraulic control system can meet the requirements of the excavator for the independent excavation of the heap.