Stacking surface prediction method based on mine field environment perception

Abstract

The invention discloses a stockpiling surface prediction method based on mine field environment perception. Firstly, mine field environment sensing is carried out, stockpiling and walls are classified, and stockpiling surface prediction is completed on the basis. The mine field environment sensing comprises the steps of point cloud preprocessing, registration, fusion, horizontal calibration, removal of useless points on the ground and above a stockpile, clustering, classification and extraction, and environment point cloud data is collected through a 3D laser radar; the environment sensing method comprises the steps of point cloud preprocessing, registration, fusion, horizontal calibration, removal of useless points on the ground and the like, clustering, classification and extraction. The stockpiling surface prediction model is established based on a Kd tree and K nearest neighbor search. According to the method, effective fusion of point cloud registration and segmentation methods is realized, the stockpiling points in the mine field environment can be effectively extracted and utilized, the stockpiling surface prediction model established based on the real stockpiling point cloud can be used for three-dimensional excavation volume calculation, and the accuracy of a calculation result can be realized.

Description

technical field [0001] The invention belongs to the field of environmental perception technology in the research field of intelligent excavators, and proposes a method for predicting a stockpiling surface based on mine field perception. Background technique [0002] The mining excavator is the core equipment in the mining system. The traditional excavator needs to be manually operated for excavation. However, due to the huge size of the equipment, the operator's sight may be blocked by the bucket, boom and other components of the excavator, or in an open-air environment. Often accompanied by bad weather, the line of sight will be obstructed, and the real-time situation of the mine and the stockpiles cannot be understood. During the excavation process, problems such as excavation collision and boom overturning may occur, which are prone to accidents. [0003] In addition, the intelligent excavator needs to calculate the excavation volume in the optimization of the excavation ...

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Problems solved by technology

[0002] Mining excavators are the core equipment in the mining system. Traditional excavators need to be manually operated for excavation. However, due to the huge size of the equipment, the operator's sight may be blocked by the excavator's bucket, boom and other components, or in open-air environments. Often accompanied by bad weather, the line of sight will also be blocked, and the real-time situation of the mine and stockpiling cannot be understood. During the excavation process, problems such as excavation collisions and boom overturning may occur, which are very prone to accidents

[0003] In addition, intelligent excavators need to calculate the excavation volume in the optimization of excavation trajectory to verify the effectiveness of the algorithm. At present, the calculation of most excavation volumes is still at the two-dimensional level, and it is impossible to realize the calculation of excavation volume based on real stacking point clouds. Subsequent research on smart excavators made a big impact

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