Design and Implementation of Recognition and Positioning Control System for Driver-less Excavator Based on Vision Master and S71200
To realize the recognition,positioning and excavation operation of target objects by the excavator,a target recognition and positioning control system for the excavator is designed,and kinematics modelling of the excavator is carried out The 9-point calibration method is used in Vision Master to calibrate the excava-tor's hands and eyes,and the position of the tar-get center is obtained through the fast-matching module and the calibration conversion module.The kinematics inverse solution program of the excavator is written through the script module to solve the corresponding motion angles of each joint of the excavator,the joint angles are transmitted to S7 1200PLC through TCP com-munication,and the linkage control function written by PLC is used to realize positioning and excavation operation of the excavator.Fi-nally,a vision-based excavator test platform is built,and driverless operation test research is carried out on the test platform.The test results show that the excavator vision system can accu-rately recognize the target object and locate its position,and the control system can accurately control the bucket to reach the target position and perform driverless excavation operation.The research and development of this system provides an effective solution for driverless op-eration of the excavator.
Machine visionRobotic arm kinematicsDriverless excavatorTarget rec-ognition and positioning
NETL
NSTL
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