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Excavating Trajectory Planning of a Mining Rope Shovel Based on Material Surface Perception

The mining rope shovel (MRS) is one of the core pieces of equipment for open-pit mining, and is currently moving towards intelligent and unmanned transformation, replacing traditional manual operations with intelligent mining. Aiming at the demand for online planning of an intelligent shovel excavat...

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Autores principales: Feng, Yinnan, Wu, Juan, Lin, Baoguo, Guo, Chenhao
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10422392/
https://www.ncbi.nlm.nih.gov/pubmed/37571435
http://dx.doi.org/10.3390/s23156653
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author Feng, Yinnan
Wu, Juan
Lin, Baoguo
Guo, Chenhao
author_facet Feng, Yinnan
Wu, Juan
Lin, Baoguo
Guo, Chenhao
author_sort Feng, Yinnan
collection PubMed
description The mining rope shovel (MRS) is one of the core pieces of equipment for open-pit mining, and is currently moving towards intelligent and unmanned transformation, replacing traditional manual operations with intelligent mining. Aiming at the demand for online planning of an intelligent shovel excavation trajectory, an MRS excavating trajectory planning method based on material surface perception is proposed here. First, point cloud data of the material stacking surface are obtained through laser radar to perceive the excavation environment and these point cloud data are horizontally calibrated and filtered to reconstruct the surface morphology of the material surface to provide a material surface model for calculation of the mining volume in the subsequent trajectory planning. Second, kinematics and dynamics analysis of the MRS excavation device are carried out using the Product of Exponentials (PoE) and Lagrange equation, providing a theoretical basis for calculating the excavation energy consumption in trajectory planning. Then, the trajectory model of the bucket tooth tip is established by the method of sixth-order polynomial interpolation. The unit mass excavation energy consumption and unit mass excavation time are taken as the objective function, and the motor performance and the geometric size of the MRS are taken as constraints. The grey wolf optimizer is used for iterative optimization to realize efficient and energy-saving excavation trajectory planning of the MRS. Finally, trajectory planning is carried out for material surfaces with four different shapes (typical, convex, concave, and convex–concave). The results of experimental validation show that the actual hoist and crowd forces are essentially consistent with the planned hoist and crowd forces in terms of the peak value and trend variations, verifying the accuracy of the calculation model and confirming that the full bucket rate and various parameters meet the constraints. Therefore, the trajectory planning method based on material surface perception are feasible for application to different excavation conditions.
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spelling pubmed-104223922023-08-13 Excavating Trajectory Planning of a Mining Rope Shovel Based on Material Surface Perception Feng, Yinnan Wu, Juan Lin, Baoguo Guo, Chenhao Sensors (Basel) Article The mining rope shovel (MRS) is one of the core pieces of equipment for open-pit mining, and is currently moving towards intelligent and unmanned transformation, replacing traditional manual operations with intelligent mining. Aiming at the demand for online planning of an intelligent shovel excavation trajectory, an MRS excavating trajectory planning method based on material surface perception is proposed here. First, point cloud data of the material stacking surface are obtained through laser radar to perceive the excavation environment and these point cloud data are horizontally calibrated and filtered to reconstruct the surface morphology of the material surface to provide a material surface model for calculation of the mining volume in the subsequent trajectory planning. Second, kinematics and dynamics analysis of the MRS excavation device are carried out using the Product of Exponentials (PoE) and Lagrange equation, providing a theoretical basis for calculating the excavation energy consumption in trajectory planning. Then, the trajectory model of the bucket tooth tip is established by the method of sixth-order polynomial interpolation. The unit mass excavation energy consumption and unit mass excavation time are taken as the objective function, and the motor performance and the geometric size of the MRS are taken as constraints. The grey wolf optimizer is used for iterative optimization to realize efficient and energy-saving excavation trajectory planning of the MRS. Finally, trajectory planning is carried out for material surfaces with four different shapes (typical, convex, concave, and convex–concave). The results of experimental validation show that the actual hoist and crowd forces are essentially consistent with the planned hoist and crowd forces in terms of the peak value and trend variations, verifying the accuracy of the calculation model and confirming that the full bucket rate and various parameters meet the constraints. Therefore, the trajectory planning method based on material surface perception are feasible for application to different excavation conditions. MDPI 2023-07-25 /pmc/articles/PMC10422392/ /pubmed/37571435 http://dx.doi.org/10.3390/s23156653 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Feng, Yinnan
Wu, Juan
Lin, Baoguo
Guo, Chenhao
Excavating Trajectory Planning of a Mining Rope Shovel Based on Material Surface Perception
title Excavating Trajectory Planning of a Mining Rope Shovel Based on Material Surface Perception
title_full Excavating Trajectory Planning of a Mining Rope Shovel Based on Material Surface Perception
title_fullStr Excavating Trajectory Planning of a Mining Rope Shovel Based on Material Surface Perception
title_full_unstemmed Excavating Trajectory Planning of a Mining Rope Shovel Based on Material Surface Perception
title_short Excavating Trajectory Planning of a Mining Rope Shovel Based on Material Surface Perception
title_sort excavating trajectory planning of a mining rope shovel based on material surface perception
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10422392/
https://www.ncbi.nlm.nih.gov/pubmed/37571435
http://dx.doi.org/10.3390/s23156653
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