智能铲装机器人的铲斗与行走机构及矿用卡车的碰撞检测方法
By simplifying the mining truck and traveling mechanism into a cuboid model and the bucket into a cylindrical model, and using the separation axis theorem for collision detection, the real-time and accuracy problems of collision detection between the bucket, traveling mechanism, and mining truck in open-pit mining operations are solved, achieving efficient and safe trajectory planning.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- DALIAN UNIV OF TECH
- Filing Date
- 2026-05-09
- Publication Date
- 2026-07-17
AI Technical Summary
In open-pit mining operations, existing technologies struggle to balance real-time performance and accuracy in the bucket and walking mechanism of intelligent loading robots and collision detection methods for mining trucks. In particular, the accuracy in approximating irregular geometric shapes is insufficient, affecting the feasibility of trajectory planning.
The mining truck and its traveling mechanism are simplified into a cuboid model, and the bucket is simplified into a cylindrical model. Collision detection is performed based on the separation axis theorem. By constructing the separation axis and calculating the projection interval, it is determined whether there is overlap, thus achieving fast and reliable collision detection.
It improves the computational efficiency of collision detection, ensures the safety and reliability of the bucket trajectory, and guarantees the safe operation of the intelligent loading robot.
Smart Images
Figure CN122176057B_ABST