Excavation Trajectory Planning Method For Electric Shovels Based On Pile Surface Scanning And Grey Wolf Optimization

The present disclosure provides an excavation trajectory planning method for electric shovels based on pile surface scanning and grey wolf optimization. The method includes the following steps: scanning a material pile surface with a lidar and completing modeling of the material surface; and planning an excavation trajectory based on grey wolf optimization according to the modeling of the material surface, the trajectory planning specifically including: expressing the excavation trajectory by using polynomial interpolation and determining variables to be optimized; solving a hoist force, a crowd force, a hoist speed, and a crowd speed based on kinematics and dynamics models of an electric shovel; calculating an excavation volume based on pile surface data obtained by laser scanning; and creating an objective function, determining constraints, and solving the excavation trajectory of the electric shovel based on grey wolf optimization. The present disclosure provides a multi-objective excavation trajectory rapid planning method that takes excavation power consumption and excavation time into account and realizes an intelligent operation mode of electric mining shovels.