实现重型挖机高精度自动找平，速度媲美经验丰富的操作员。
High Precision Hydraulic Excavator Control for Heavy-Duty Grading
- 分层控制：底层适配液压架构，上层精准路径跟踪
- 实测误差仅1.8厘米，比商用方案提升2.6倍精度
- 适合需高精度施工的智能工程机械场景
高精度重型平整是土方工程中的常见环节，传统上依赖熟练操作员手动完成。在大量铲除物料的同时达到高精度表面，需要丰富的机器操作经验。不同液压架构对操作输入和土壤作用力的响应差异大，导致通用控制器难以实现。本文提出一种自主控制器，在负载感应与负流量控制机型上均能实现专家级操作速度下的高精度平整。控制器分为两部分：(1) 针对液压架构的低层感知回路；(2) 协调关节运动与响应的路径跟踪层。通过校准流程，该方法可适配两类液压系统。为验证其通用性，我们在两台液压系统不同的挖机上测试，并与商用先进方案对比。本方法（RMSE 1.8~cm）精度优于商用方案（RMSE 4.7~cm）达2.6倍，且通过充分利用最大工作压力提升设备利用率，避免了商用方案提前停机的问题。
原文摘要 · Abstract (English)
High-precision heavy-duty grading is a common step in earthworks, traditionally carried out manually by skilled operators. Removing a significant amount of material while achieving a high-precision surface requires substantial machine-specific experience. Different hydraulic architectures react differently to operator inputs and soil interaction forces, which makes generalizable controllers challenging. In this paper, we present an autonomous controller that achieves high-precision grading at expert-operator speed on Load Sensing and Negative Flow Control machines alike. We split our controller into two parts: (1) a hydraulic-aware low-level loop that is hydraulic architecture-specific and (2) a path-tracking layer that coordinates joint motions and responses. Through a calibration process, our technique is applicable to load-sensing and negative-flow-control machinery. To showcase its versatility, we benchmark our approach on two excavators with different hydraulics and compare it against a commercial state-of-the-art solution. Our technique (RMSE 1.8~cm) outperforms the commercial solution (RMSE 4.7~cm) in precision by a factor of 2.6 and improves machine usage by leveraging the maximum function pressure, as opposed to commercial solutions that stall prematurely.
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