An intelligent control system and method for hydraulic excavator round pit operation
An intelligent control system, hydraulic excavator technology, applied in the fields of earth moving machine/shovel, image analysis, construction, etc., can solve a lot of problems such as time, manpower and material cost, and achieve the effect of good popularization and low cost
Active Publication Date: 2022-06-03
JILIN UNIV
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Problems solved by technology
How to quickly excavate to improve working efficiency, round the inner wall of the deep pit, and level the bottom of the round pit all require the operator to be able to skillfully coordinate and control the movements of the slewing motor, boom cylinder, stick cylinder and bucket cylinder. The training of experienced operators requires a lot of time, manpower, and material costs, so it is very necessary to intelligentize the round pit operation
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[0108] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0109] like figure 1 As shown, an intelligent control system for hydraulic excavator round pit operation includes an interactive decision-making module, a trajectory planning module and an electro-hydraulic control execution module;
[0110] The interactive decision-making module includes an interactive interface, a numerical calculation sub-module, an image processing sub-module, a pose adjustment sub-module, a displacement sensor, an angle sensor and a lidar;
[0111] The interactive interface is used for parameter importing, visualizing the two-dimensional graph of the circle pit boundary and displaying the excavation operation image obtained by the image processing sub-module;
[0112] The numerical calculation sub-module is used to generate the three-dimensional coordinates of the circular pit relative to the base coordinate syste...
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The present invention provides an intelligent control system and method for hydraulic excavator round pit operation. The intelligent control system is composed of an interactive decision-making module, a trajectory planning module and an electro-hydraulic control execution module; the interactive decision-making module is used for Complete parameter import, numerical calculation, image processing, data acquisition, etc.; the trajectory planning module, according to the operating conditions of different stages, combines the corresponding excavation reference images, excavation trajectory and kinematic equations to complete the excavator working device. Motion planning; the electro-hydraulic control execution module, based on the control signals output by the interactive decision-making module and the trajectory planning module, compositely controls the hydraulic actuator to complete the decision-making task. The system is universal and can be installed on any model, which can effectively improve the efficiency and quality of round pit operations and reduce construction costs.
Description
technical field [0001] The invention relates to a control decision-making technology for excavator operation, and more particularly, to an intelligent control system and method for hydraulic excavator round pit operation. Background technique [0002] As one of the most important construction machinery in the field of engineering construction, hydraulic excavators are involved in a wide range of operating conditions. Although the current research on unmanned excavator technology is very hot, and some achievements have been applied to practice, on the whole, the operation of excavators mainly relies on manual labor. The quality and efficiency of the operation and construction depend entirely on the proficiency of the operators. At the same time, there are potential dangers in some specific operating environments, which may cause terrible consequences of car crashes and fatalities. Therefore, for the special operation of the excavator, in order to improve the operation effici...
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IPC IPC(8): E02F9/20G06T7/62G06T7/70
CPCE02F9/2037E02F9/2045G06T7/70G06T7/62
Inventor潘羽飞王继新苏丽达乔永禄
OwnerJILIN UNIV