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Bucket Trajectory Optimization under the Automatic Scooping of LHD

Author

Listed:
  • Yu Meng

    (School of Mechanical Engineering, University of Science and Technology, Beijing 100083, China
    Institute of Artificial Intelligence, University of Science and Technology, Beijing 100083, China)

  • Huazhen Fang

    (School of Mechanical Engineering, University of Science and Technology, Beijing 100083, China)

  • Guodong Liang

    (School of Mechanical Engineering, University of Science and Technology, Beijing 100083, China)

  • Qing Gu

    (School of Mechanical Engineering, University of Science and Technology, Beijing 100083, China)

  • Li Liu

    (School of Mechanical Engineering, University of Science and Technology, Beijing 100083, China)

Abstract

We propose an optimal planning scheme of the bucket trajectory in the LHD (Load-Haul-Dump) automatic shoveling system to improve the effectiveness of the scooping operation. The research involves simulation of four typical shoveling methods, optimization of the scooping trajectory, establishment of a reaction force model in the scooping process and determination of optimal trajectory. Firstly, we compared the one-step, step-by-step, excavation and coordinated shoveling method by the Engineering Discrete Element Method (EDEM) simulation. The coordinated shoveling method becomes the best choice on account of its best comprehensive performance among the four methods. Based on the coordinated shoveling method, the shape of the optimized trajectory can be roughly determined. Then, we established a model of bucket force during the shoveling process by applying Coulomb’s passive earth pressure theory for the purpose of calculating energy consumption. The trajectory is finally determined through optimizing the minimum energy consumption in theory. The theoretical value is verified by the EDEM simulation.

Suggested Citation

  • Yu Meng & Huazhen Fang & Guodong Liang & Qing Gu & Li Liu, 2019. "Bucket Trajectory Optimization under the Automatic Scooping of LHD," Energies, MDPI, vol. 12(20), pages 1-18, October.
    • Handle: RePEc:gam:jeners:v:12:y:2019:i:20:p:3919-:d:277072
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    Citations

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    Cited by:

    1. Gabriel Freire & Guillermo Ramirez & René Gómez & Krzysztof Skrzypkowski & Krzysztof Zagórski, 2023. "Electro-Mechanical Modeling and Evaluation of Electric Load Haul Dump Based on Field Measurements," Energies, MDPI, vol. 16(11), pages 1-17, May.
    2. Xuefei Li & Chao Duan & Kun Bai & Zongwei Yao, 2021. "Operating Performance of Pure Electric Loaders with Different Types of Motors Based on Simulation Analysis," Energies, MDPI, vol. 14(3), pages 1-19, January.

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