Full
Outline
During the transport of unmanned mining trucks in open-pit mines, their perception systems are highly susceptible to harsh weather conditions such as wind-blown sand and dust. This vulnerability leads to a degradation in the detection and tracking capabilities of key targets, consequently causing adverse consequences such as missed detections, false alarms, and unintended vehicle stops. To enhance the safety and efficiency of perception technologies for unmanned operations under dust interference, an intelligent dust perception model and scheme for unmanned mining trucks were proposed by integrating deep learning algorithms, point cloud data processing techniques and multi-sensor fusion methods, followed by experimental validations. On this basis, a classification strategy and corresponding criteria for dust severity during unmanned operations were established, and the trained model was evaluated on a test dataset. The results indicate that the predicted mean Intersection over Union reaches 87.3%, with the Intersection over Union for the dust category specifically achieving 90.7%. This demonstrates that the perception model possesses high recognition precision for dust, fully satisfying the requirements of dust scene recognition for unmanned operations in mining areas. The unmanned operation dust intelligent perception scheme effectively enhances vehicle perception capabilities in open-pit unmanned operation environments, achieving a point cloud removal rate of over 95%. It significantly improves the accuracy and sensitivity of environmental perception, thereby providing a robust guarantee for the safe operation of unmanned mining trucks.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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