Full
Outline
Due to the sudden change in load capacity of open-pit mine dump trucks, the sliding mode variable structure will cause the hydraulic braking system to produce chattering characteristics, making it difficult to accurately determine whether there is overlap between the dump truck and the collision detection object's enclosure box, resulting in a longer response time for collision detection. To address this, a collision prevention technology for open-pit mine dump trucks based on LiDAR and improved AI algorithm was proposed. Using a single laser point cloud spatial neighborhood joint segmentation method to distinguish obstacles and ground points around dump trucks on a grid map, and calibrating the position of the laser radar and mining truck through a coordinate transformation matrix. Using the bounding box algorithm in AI algorithms to perform collision detection between dump trucks and obstacles in a grid map. Through an improved hybrid hierarchical bounding box algorithm, it is determined whether the bounding boxes of dump trucks and collision detection objects overlap for collision detection, quickly eliminating detection objects that are unlikely to collide. If there is a possibility of collision, the cascading braking parking strategy is used to actively stop the dump truck and achieve collision avoidance operation. The experimental results show that using this technology, dump trucks can effectively avoid surrounding obstacles and reach the target point in a short period of time, and the collision detection response time is reduced to 35.4 ms, effectively reducing the collision risk of open-pit mine dump 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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