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Study on Auto Excavation for Hydraulic Excavators

机译：液压挖掘机汽车挖掘研究

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This paper presents a control scheme for auto excavation of a hydraulic excavator. Among the tasks performed by a hydraulic excavator, repeatable level digging or flat surface finishing may take a large percentage. Applying of automated functions to perform such repeatable and tedious jobs will greatly increase the overall productivity. This research is conducted to create a coordinate control method for the boom, arm and bucket cylinders on a hydraulic excavator to perform accurate and effective works. Based on the kinematic analysis of the excavator linkage system, the tip trajectory of the end- effector can be determined in terms of three hydraulic cylinders coordinated motion. Therefore, the complex control function of a hydraulic excavator can be simplified into coordinated motion control of three individual electro-hydraulic control systems. This coordinate control approach is validated on a wheeled hydraulic excavator, and the validation results indicated that the developed control method could satisfactorily accomplish the auto-digging function for level digging or flat surface finishing.
机译：本文介绍了液压挖掘机自动挖掘的控制方案。在由液压挖掘机执行的任务中，可重复水平挖掘或平坦表面精加工可能需要大的百分比。应用自动化功能以执行这种可重复和繁琐的工作将大大提高整体生产力。进行该研究以为液压挖掘机上的吊杆，臂和铲斗缸创造一个坐标控制方法，以进行准确且有效的作品。基于挖掘机挂连系统的运动学分析，末端执行器的尖端轨迹可以根据三个液压缸协调运动来确定。因此，液压挖掘机的复杂控制功能可以简化为三个单独的电动液压控制系统的协调运动控制。这种坐标控制方法在轮式液压挖掘机上验证，验证结果表明，开发的控制方法可以令人满意地完成水平挖掘或平坦表面精加工的自动挖掘功能。

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