挖掘机智能辅助施工系统设计  

Design of intelligent auxiliary construction system for excavator

作　　者：赵天怀 王目树 潘为刚 康超 秦石铭 徐飞 ZHAO Tianhuai;WANG Mushu;PAN Weigang;KANG Chao;QIN Shiming;XU Fei(School of Information Science and Electrical Engineering,Shandong Jiaotong University,Jinan 250357,Shandong,China)

机构地区：[1]山东交通学院信息科学与电气工程学院,山东济南250357

出　　处：《山东大学学报（工学版）》2023年第4期163-172,共10页Journal of Shandong University（Engineering Science）

基　　金：山东省自然科学基金资助项目(ZR2022MF345);山东省重点研发计划(重大科技创新工程)资助项目(2020CXGC010110);山东省交通运输行业重点实验室支持计划资助项目。

摘　　要：为解决挖掘机施工路径、位置与深度盲目和效率低的问题,设计并实现一种挖掘机辅助施工系统。采用北斗定位接收机、激光测距仪、陀螺仪等传感器对传统挖掘机进行信息化改造。根据挖掘机施工特点,提出基于欧拉图的挖掘机施工路径规划算法,融合遗传算法、原子搜索优化算法和粒子群算法对施工图进行欧拉化处理。根据多传感器信息建立挖掘机三维施工模型,实现挖掘点位置与深度的在线软测量。济南市某施工现场试验结果表明,本研究提出的辅助施工系统路径规划合理,施工位置测量误差小于6 cm,施工深度测量误差小于5 cm。挖掘机智能施工辅助系统可以有效提升施工效率,节省施工成本。To solve the problems of blindness and low efficiency of excavator route,location,and depth construction,an excavator-assisted construction system was designed and implemented.Beidou positioning receiver,laser rangefinder,gyroscope,and other sensors were used to carry out the informatization transformation of traditional excavators.Combining the construction characteristics of excavators,an excavator construction route planning algorithm based on Euler diagrams was proposed,which integrated genetic algorithm,atomic search optimization algorithm and particle swarm algorithm to complete Eulerization of construction drawings.Ac-cording to the multi-sensor information,a three-dimensional construction model of the excavator was established to realize the online soft measurement of the position and depth of the excavation point.The test results of a construction site in Jinan City showed that the path planning of the auxiliary construction system proposed in this study was reasonable.The measurement error of the position was less than 6 cm,and the measurement error of the depth was less than 5 cm.The excavator intelligent construction auxiliary sys-tem could effectively improve the construction efficiency and save the construction cost.

关 键 词：挖掘机 欧拉图 群智能算法 路径规划 辅助施工 机电一体化 

分 类 号：TH24[机械工程—机械制造及自动化] TP23[自动化与计算机技术—检测技术与自动化装置]