中文摘要：

对小松PC02小型液压挖掘机进行机器人化改造。在原液压系统基础上,引入电液比例控制技术,实现挖掘机行走机构、回转机构及工作装置的自动控制;为实现挖掘机的定点挖掘,采用双目CCD视觉传感器采集目标图像,提取目标图像特征后,控制挖掘机行走机构、工作装置运动轨迹及铲斗姿态。经初步实验、仿真,验证方案的可行性,为进一步实现挖掘机的自动化、智能化改造奠定了软硬件基础。

英文摘要：

Komatsu PC02 small-size hydraulic excavator was roboticized reformed.Electro-hydraulic proportional technology was used to achieve autocontrol for running machanism,swing machanism and working equipment of excavator based on original hydraulic pressure system.For the aim of fixed-point excavation of excavator,binocular CCD visual sensor was used to collect object image.The feature of object image was extracted to control running machanism of excavator,working equipment kineto-trace and basket attitude.The simulation and experimental results show that the reformed scheme is valid.It provides hardware and software base for futher automatization and intelligentization of the excavator.