关键词: 装载机, 自动铲掘, 铲掘轨迹, 轨迹规划, 天牛须搜索

Abstract: Loaders are often used in harsh working environments such as the construction industry and mining industry.The autonomous operation of loaders can effectively guarantee the safety of employees,which has become a development trend in the field of construction machinery.The shovel trajectory is a key factor affecting the energy consumption of the autonomous operation of loaders.At present,scholars have proposed some trajectory planning methods aiming at optimal energy consumption.However,most of these methods only take the trajectory of the bucket tip as the planning goal but ignore the influence of the bucket angle on the energy consumption during the autonomous shovel loading process.Aiming at the above problems,a method for shoveling trajectory planning of loader based on beetle antennae search was proposed.The kinematic mathematical model of the working mechanism was established,and the relationship between the position of bucket tip,bucket angle and the displacement of the vehicle,boom cylinder and bucket cylinder was obtained.Based on the bucket tip position model and bucket angle model,the planning scheme characterized by the shovel depth and angle coefficient was determined to form a series of alternative shovel trajectories.Using these shoveling trajectories as the search space,a new heuristic search method named beetle antennae search was used to search for the approximate optimal shovel trajectory of loader aiming at the lowest fuel consumption per unit shovel weight.To verify the energy-saving and consumption reduction effect of the shoveling trajectory planning method,a 5t loader test platform was built,and a comparison experiment of manual shoveling operation and autonomous shoveling operation was carried out.The experimental results showed that the mean fuel consumption per unit shovel weight was only 14.13 ml·t-1  when the shoveling trajectory planning method of the loader based on the beetle antennae search was used for autonomous shoveling operations,which was 20.35% lower than that of manual shoveling operations.These results show that the proposed shoveling trajectory planning method could significantly reduce the energy consumption of loaders.

Key words: wheel loader, automatic shoveling, shoveling trajectory, trajectory planning, beetle antennae search