Bucket Trajectory Optimization under the Automatic Scooping of LHD

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...

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Main Authors:	Yu Meng, Huazhen Fang, Guodong Liang, Qing Gu, Li Liu
Format:	Article
Language:	English
Published:	MDPI AG 2019-10-01
Series:	Energies
Subjects:	lhd edem simulation minimum energy consumption optimal shoveling trajectory
Online Access:	https://www.mdpi.com/1996-1073/12/20/3919

id	doaj-676360c68d684ecaa3eb8c9c873f2d79
record_format	Article
spelling	doaj-676360c68d684ecaa3eb8c9c873f2d792020-11-25T01:26:12ZengMDPI AGEnergies1996-10732019-10-011220391910.3390/en12203919en12203919Bucket Trajectory Optimization under the Automatic Scooping of LHDYu Meng0Huazhen Fang1Guodong Liang2Qing Gu3Li Liu4School of Mechanical Engineering, University of Science and Technology, Beijing 100083, ChinaSchool of Mechanical Engineering, University of Science and Technology, Beijing 100083, ChinaSchool of Mechanical Engineering, University of Science and Technology, Beijing 100083, ChinaSchool of Mechanical Engineering, University of Science and Technology, Beijing 100083, ChinaSchool of Mechanical Engineering, University of Science and Technology, Beijing 100083, ChinaWe 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.https://www.mdpi.com/1996-1073/12/20/3919lhdedem simulationminimum energy consumptionoptimal shoveling trajectory
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	Yu Meng Huazhen Fang Guodong Liang Qing Gu Li Liu
spellingShingle	Yu Meng Huazhen Fang Guodong Liang Qing Gu Li Liu Bucket Trajectory Optimization under the Automatic Scooping of LHD Energies lhd edem simulation minimum energy consumption optimal shoveling trajectory
author_facet	Yu Meng Huazhen Fang Guodong Liang Qing Gu Li Liu
author_sort	Yu Meng
title	Bucket Trajectory Optimization under the Automatic Scooping of LHD
title_short	Bucket Trajectory Optimization under the Automatic Scooping of LHD
title_full	Bucket Trajectory Optimization under the Automatic Scooping of LHD
title_fullStr	Bucket Trajectory Optimization under the Automatic Scooping of LHD
title_full_unstemmed	Bucket Trajectory Optimization under the Automatic Scooping of LHD
title_sort	bucket trajectory optimization under the automatic scooping of lhd
publisher	MDPI AG
series	Energies
issn	1996-1073
publishDate	2019-10-01
description	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.
topic	lhd edem simulation minimum energy consumption optimal shoveling trajectory
url	https://www.mdpi.com/1996-1073/12/20/3919
work_keys_str_mv	AT yumeng buckettrajectoryoptimizationundertheautomaticscoopingoflhd AT huazhenfang buckettrajectoryoptimizationundertheautomaticscoopingoflhd AT guodongliang buckettrajectoryoptimizationundertheautomaticscoopingoflhd AT qinggu buckettrajectoryoptimizationundertheautomaticscoopingoflhd AT liliu buckettrajectoryoptimizationundertheautomaticscoopingoflhd
_version_	1725110235424620544

Bucket Trajectory Optimization under the Automatic Scooping of LHD

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