Research On Path Tracking Technology Of Six Crawler Travelling Gear Based On Binocular Vision

With the improvement of the earthwork efficiency of large open pit mining equipment,the quality of its key equipment,such as bucket wheel excavator,soil exhausting machine and movable crushing station,has exceeded the carrying capacity of the double crawler travelling gear.Six crawler travelling gear is widely used in large and medium-sized bucket wheel excavators and spreaders.Six crawler travelling gear has large volume,low walking speed and uneasy posture adjustment.In the process of work,it is easy to deviate from the ideal trajectory.This paper combines the national natural fund project: "electromechanical coupling dynamics and adaptive control of multi-crawler travelling gear "(5177522)to study the trajectory deviation of six crawler travelling gear.A path tracking control method for six crawler travelling gear based on binocular vision and fuzzy PID control algorithm is proposed.The main work is in the following aspects:The latest research progress at home and abroad is summarized.The commonly used processing methods of machine vision and the theoretical knowledge of fuzzy PID control algorithm are introduced.The application status of control algorithms such as PID,fuzzy control and neural network in various fields is reviewed.The steering principle of six crawler travelling gear and matching relation between steering angle and track speed of each track are analyzed.Based on the calibration theory and method of machine vision,the relation between the location of the object's image and the spatial coordinates is derived.The fuzzy PID control system and control interface of six crawler travelling gear are written by LabVIEW software.A detailed description of the control system is made.The image processing algorithm is compiled with LabVIEW software.The image processing methods are: gray level,two value,filtering,edge detection and least square fitting.Finally,the fitting curve of the navigation line is obtained.The fuzzy PID control algorithm is written in the control system to control the crawler running along the guide line.In order to get reasonable control parameters,a virtual prototype model of six crawler travelling gear is established in RECURDYN software.A control algorithm of six crawler travelling gear is built in the CoLink module.A control algorithm of six crawler travelling gear is built in the CoLink module.The co-simulation of RECURDYN and Co Link is carried out.By contrasting and analyzing the simulation data,the control parameters of fuzzy PID controller of six crawler travelling gear are established.In order to verify the control effect of path tracking control system of six crawler travelling gear in real environment,a six crawler travelling gear experimental platform was developed.15 sets of experiments were carried out under straight line and curve conditions.The experimental results show that the path tracking control system of six crawler travelling gear can meet the requirements.