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.
Highlights
With the exhaustion of open-pit mineral resources, the use of wheel loaders in the mining industry has gradually moved underground
The main contributions of this paper are as follows: (1) we screened out the best method in the actual working condition by comparing four typical shoveling methods of LHD [8], (2) we derived the resistance received by bucket by establishing a reaction force model for the purpose of calculating the energy consumption during scooping, and (3) we planned the optimal trajectory through optimizing the minimum energy consumption and verified the theoretical value by Engineering Discrete Element Method (EDEM) simulation
The resistance of the shoveling process can be analyzed by equivalently converting each resistance to the force and moment acting on the edge of the bucket
Summary
With the exhaustion of open-pit mineral resources, the use of wheel loaders in the mining industry has gradually moved underground. Hisashi minimizes energy consumption by obtaining the force numerical value through sensors [7] None of these authors directly linked the energy consumption to the resistance received by bucket theoretically. The main contributions of this paper are as follows: (1) we screened out the best method in the actual working condition by comparing four typical shoveling methods of LHD [8], (2) we derived the resistance received by bucket by establishing a reaction force model for the purpose of calculating the energy consumption during scooping, and (3) we planned the optimal trajectory through optimizing the minimum energy consumption and verified the theoretical value by EDEM simulation. In section relation between energy consumption insertion depth and optimized the trajectory with minimum energy consumption.
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