Introduction
Bimonthly, started in 1957
Administrator
Shanxi Provincial Education Department
Sponsor
Taiyuan University of Technology
Publisher
Ed. Office of Journal of TYUT
Editor-in-Chief
SUN Hongbin
ISSN: 1007-9432
CN: 14-1220/N
Administrator
Shanxi Provincial Education Department
Sponsor
Taiyuan University of Technology
Publisher
Ed. Office of Journal of TYUT
Editor-in-Chief
SUN Hongbin
ISSN: 1007-9432
CN: 14-1220/N
location: home > paper >
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Terrestrial Modeling of Intelligent Excavator Based on Grid Method
DOI:
10.16355/j.cnki.issn1007-9432tyut.2017.04.019
Received:
Accepted:
| Corresponding author | Institute | |
| ZHAO Hongqiang | State Key Laboratory of High Performance Complex Manufacturing, Central South University |
abstract:
In order to achieve excavator intelligence operations,we proposed a terrestrial modeling method based on laser sensor on the excavator Sunward SWE230.The transformation of polar coordinates and Cartesian coordinate in grid method was used to build the terrestrial model.The model searches mining object boundary and use the RANSAC (random sample consensus) algorithm to estimate the depth of excavation and the inclination of slope,and use cluster segmentation algorithm to determine the mining strategy on the basis of the known range of the excavation.Experiments show that this method can effectively measure mining objects and determine mining strategy. |
Keywords:
intelligent excavator；random sample consensus；laser scanning；terrain modeling；cluster segmentation