| With the requirement on the quantity of construction machines is increasing rapidly and constantly, and the rapid development of technology, there comes higher and higher demand on control and energy saving performance of hydraulic systems. Besides, operators usually have to face terrible working conditions, even danger, while it takes a lot to train an experienced operator. Beneath these demands from technology and application, a real-time surrounding recognizing platform was established, meanwhile, the base of an intelligent excavator experimental system was also developed to ensure it able to build a close-loop control system with surrounding recognizing platform after new hydraulic system was added, with the purpose of supporting the development of intelligent construction machines.In this paper, we used the information integration technology between laser scanner and web camera to carry out associative surrounding recognition, furthermore, build an intelligent excavator experimental system based on a HITACHI ZAXIS120 excavator, on the basis of its original hydraulic components, redesigned the whole hydraulic system, and used parallel system to add two programmable system. In this way, multiple systems can exist on one excavator at the same time, in order to compare their operational performance.The main contents are as follows:In Chapter 1, this paper claimed the meaning of developing a surrounding recognizing platform and an intelligent excavator experimental system, then introduced some representative examples in this domain. At last, study content and difficulties were listed.In Chapter 2, this paper discussed the theoretical foundation of virtual mark in surrounding recognition platform. It started from the operating principle of the camera and the laser scanner, proved that it’s not so perfect to feed the requirement in excavator working conditions with only one of them. Then the strategy of virtual mark was introduced, and its principle and theoretical foundation were claimed to prove its feasibility.In Chapter 3, this paper introduced the strategy design of the surrounding recognizing system and the excavator experimental system. First, hardware conditions of both were analyzed. Then, the strategy design of surrounding recognizing system was discussed, the camera and the laser scanner were both used, collecting the information of color as well as depth, to realize the strategy of virtual mark. At last, the strategy of the experimental system, including the strategy design of hydraulic system, and components layout was discussed.In Chapter 4, the development of the surrounding recognizing system and the excavator experimental system were presented. First, the design and construction of the platform was introduced on the chosen of key parameters, types of key components and the data link of the whole system. Then, the development of the platform was discussed, the development and calibration of the scanner and camera were described based on data collecting via Ethernet and the visualization of PCL data of scanner, along with the development based on SDK of camera and OpenCV. At Last, the development of experimental system was presented, including the construction of power elements, action elements and structure of the excavator.In Chapter 5, this paper introduced the experiment design and result of the surrounding recognition system and the experimental system. First, calibration experiments of two components and the whole system was described, inner parameters of two components were calculated and the data was good while results were reliable. Then, the whole system was calibrated, and the ability and effect of modelling was showed. At last, the primary testing of the excavator experimental system was presented, and the result was successful.In Chapter 6, main results of this paper were concluded, including results on surrounding recognizing platform and the first step on the prototype of intelligent excavator, then advice on further development was proposed. |
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