挖掘机智能化技术研究进展  

Progress in Research on Intelligent Technologies of Excavators

作　　者：高维士 梁明孔 瞿红玲 李杨 Gao Weishi;Liang Mingkong;Qu Hongling

机构地区：[1]柳工常州机械有限公司,江苏省常州市213160 [2]柳州柳工挖掘机有限公司 [3]湖北谦牧律师事务所

出　　处：《工程机械》2025年第4期1-11,I0001,共12页Construction Machinery and Equipment

基　　金：2024年广西重点研发计划(桂科AB24010205);柳工研发项目(EX72024A07)。

摘　　要：针对挖掘机施工作业智能化技术难度大,涉及学科范围广的现状,对挖掘机近年来的智能化最新进展进行综述。针对现有技术中存在的视频传输延迟过大、感知精度不足等瓶颈问题进行总结,对作业环境感知、沉浸式视觉、远程遥控等关键技术进行分析,主要包括:工作姿态感知、铲斗位置感知、自动称重为基础的作业环境感知技术;虚拟现实与增强现实融合、3D立体感知、低延迟图像传输、全景摄像头、实时模拟和预测为主的沉浸式视觉技术;防碰撞、物料识别、无线通信安全控制机制等远程遥控技术,同时介绍了路径规划及控制、状态诊断、电子围栏等技术,并从理论研究及工程应用等方面提出存在的挑战及潜在的研究方向。In view of the current situation of difficulty and wide range of disciplines involved in the intelligent technologies of excavator construction operations,the latest progress in the intelligentization of excavators in recent years is reviewed.The bottlenecks such as excessive video transmission delay and insufficient perception accuracy in the existing technologies are summarized,and the key technologies including operating environment perception,immersive vision,remote control,etc.are analyzed,which mainly include:operating environment perception technology based on working posture perception,bucket position perception and automatic weighing;immersive vision technology based on fusion of virtual reality and augmented reality,3D stereoscopic perception,low-latency image transmission,panoramic cameras,realtime simulation and prediction;remote control technologies of anti-collision,material recognition and wireless communication safety control mechanism.Technologies such as path planning and control,status diagnosis and electronic fences are introduced,and challenges and potential research directions are proposed in terms of theoretical research and engineering applications.

关 键 词：挖掘机 智能化 环境感知 遥控技术 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]