METHOD OF CONTROLLING AUTOMATIC EXTRACTION OF MINERALS BY PIT ELECTRIC EXCAVATOR BASED ON AUXILIARY VISION Russian patent published in 2025 - IPC E02F9/20 E02F9/24 E02F9/26 G06T17/00 G06T7/593 

FIELD: dredgers or soil-shifting machines.

SUBSTANCE: invention relates to the field of electric excavator equipment, in particular to the method of controlling the automatic extraction of minerals by the open-pit electric excavator based on the auxiliary vision. Method of controlling automatic extraction of minerals involves setting spatial coordinate systems on a pit electric excavator and obtaining a predictive kinematics of a working device of an electric pit excavator by a D-H method; implementation of three-dimensional reconstruction of soil material by means of binocular camera and selection of corresponding initial and final positions of the first recess; function selection y_w=f_w(x,t) as the trajectory of the first excavation of the mine electric excavator and obtaining the expected elongation trajectory d of the boom arm and the expected trajectory of the inclination angle θ by using the forward kinematics of the mine electric excavator and the plane geometry ratio, and actuating the electric mine excavator actuator to perform excavation work; monitoring in real time using a force sensor, whether there is a large block of coal rock in the direction of excavation of the ladle soil; recording the position of the current top of the teeth of the ladle, in the case when a large block of coal rock is monitored in the ladle, and stopping the excavation; adaptation of method of planning descending paths of excavation, selection of initial and final positions for second excavation and function y_w2=f_w2(x,t) of trajectory of mining and continuation of all excavation work.

EFFECT: achieving automatic soil excavation with an electric pit excavator with automatic bypass of obstacles, such as large coal rocks.

9 cl, 5 dwg