### Research Status of Intelligent Excavators
\begin{table}
\begin{tabular}{c c c c} \hline \hline
**Time** & **Research Institution** & **Major Contribution** & **Literature** \\ \hline
1995 & Lancaster University, UK & Using a potentiometer, axis tilt sensor, optical laser ranging sensor global positioning system, and other equipment, it can efficiently complete the independent excavation of long straight ditches. & [6; 7; 8] \\ \hline
1999 & Carnegie Mellon University & Two laser rangefinders are used to scan the working space, identify the excavation surface, trucks, and obstacles, and combine the on-board computer and positioning system to carry out the excavation motion planning and dumping motion planning, which can realize the autonomous operation of slope excavation. & [9; 10] \\ \hline
2000 & University of Sydney & By using a laser rangefinder to scan the working environment, the functions of task decomposition, state monitoring, and path planning are realized, and the automatic mining operation in simple working conditions is realized. & [11; 12] \\ \hline
2006 & Commonwealth Scientific and Industrial Organisation of Australia & SICK LMS LiDAR is used to scan the working environment construct a 3D topographic map to describe the working environment and excavation surface. The operation time is basically the same as the manual operation time, and the energy consumption is less. & [13] \\ \hline
2009 & Northeastern University & The binocular CCD sensor is used to collect environmental information such as road, bucket and target, which lays a foundation for the autonomous walking and operation of the excavator. & [14] \\ \hline
2012 & University of Tsukuba and Ministry of Land and Resources, Japan & The use of pressure flow sensors, tilt sensors, gyroscopes, GPS, binocular cameras, LiDAR, and other sensors can sense the working environment independently plan obstacle avoidance, and initially realize the independent operation of the excavator. & [15] \\ \hline
2012 & Central South University, Sanhe Intelligent & The kinematics and dynamics model of the excavator are established, and the cerebellar model neural network control method is used to realize the real-time and accurate control of the intelligent excavator. & [16] \\ \hline
2013 & Sungkyunkwan University, South Korea & An intelligent mining system for cluster control of construction machinery is developed, which is mainly composed of a task planning system, task execution system and man–machine interface system. The system has a high degree of intelligence and realizes the preliminary independent mining process. & [17] \\ \hline
2018 & Dalian University of Technology & The intelligent excavator prototype is developed, and the dynamic excavation resistance prediction model is constructed to provide theoretical support for the intelligent excavator to minimize energy consumption. & [18] \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Research status of intelligent excavators at home and abroad. Figure 3: Various sensors on intelligent excavators. 1. The operation of intelligent excavators is often accompanied by strong vibrations, which will cause linear deviation and attitude angle change of the light detection and ranging scanner, thus affecting the detection accuracy of the LiDAR scanner. In addition, strong vibrations will cause fatigue and wear of the precision components inside the light detection and ranging scanner, affect the service life of the equipment, and even cause damage to the equipment. Therefore, it is necessary to study the vibration characteristics of the excavator, design a reasonable vibration-damping platform, and measure the light detection and ranging scanner displacement and attitude data caused by vibration, as well as modify the data through registration, filtering, and other algorithms as far as possible to eliminate the impact of vibration on the measurement accuracy of the light detection and ranging scanner. 2. The intelligent excavator will produce a large amount of dust during the excavation and loading process.