Mining electric shovel excavation trajectory planning method based on three-five-three subsection variable order polynomial under implicit curved surface

The invention provides a mining electric shovel excavation trajectory planning method based on a three-five-three subsection variable order polynomial under an implicit curved surface, and belongs to the technical field of trajectory planning. According to the mining electric shovel excavation trajectory planning method, real-time point cloud information of the surface of a to-be-excavated material is returned according to laser radar scanning, and an implicit curved surface is constructed by adopting a radial basis function according to the point cloud information; and on the constructed implicit curved surface, based on a three-five-three segmented variable order polynomial, carrying out excavation trajectory optimization under a multi-constraint condition, thereby realizing real-time excavation trajectory planning on the surface of the material to be excavated. The mining track is planned in real time according to different surfaces of the materials to be excavated each time, the mining efficiency of the m