Optimal Initial Positioning of Excavators in Digging Processes

Abstract

Excavators comprise a category of construction equipment and are used in a wide range of applications of varying scale. Regarding their usage in digging processes, the relevant literature records few analytical methods which, when combined with the available empirical knowledge, provide certain analytical tools, rules, and guidelines. In the present work, an approach for obtaining optimal initial positioning of excavators in digging processes is proposed. First, constraints and assumptions regarding excavator and dig geometries are stated. The excavator work space is correlated to its kinematics and the geometric locus of optimal positioning points that correspond to maximal length of the boom—arm pair is located. Then the problem of determining the volume of removed soil is analysed and subsequently reduced to the solution of the corresponding two-dimensional problem. Simple mathematical formulae are provided that relate dig and excavator geometries. Finally, Euclidean and/or Manhattan distance calculations are used for locating the point that offers the shortest path to the point of initial location of the excavator.