挖掘数据：仅使用挖掘机自感传感进行岩石堆垛 characterization 的实验
机器人学
2026-02-12 v1 信号处理
摘要
片状岩石堆垛的表征是采矿和砂石场行业中的基本任务，岩石经炸药碎片化后使用轮式装载机运输，然后送往进一步加工。本场报告研究了一种新方法，用于仅通过在使用轮式装载机挖掘时收集的自感数据来估计片状岩石堆垛的相对颗粒尺寸。该方法不采用exteroceptive 传感器（如摄像机或 LiDAR 传感器）来估计岩石颗粒尺寸，而是从挖掘机在挖掘过程中的惯性响应中推断岩石碎片化程度。该论文扩展了关于利用小波分析构建与岩石碎片化程度成比例的唯一特征的研究。我们通过大规模现场实验演示，构造于不同岩石堆垛中不同尺寸分布下的小波特征之比近似于两个岩石堆垛平均颗粒尺寸之比。 performed in an operating quarry under representative conditions with a battery electric, 18-tonne capacity, load-haul-dump (LHD) machine. The relative particle size estimates generated with the proposed sensing methodology are compared with those obtained from both a vision-based fragmentation analysis tool and from sieving of sampled materials.
引用
@article{arxiv.2602.11082,
title = {Digging for Data: Experiments in Rock Pile Characterization Using Only Proprioceptive Sensing in Excavation},
author = {Unal Artan and Martin Magnusson and Joshua A. Marshall},
journal= {arXiv preprint arXiv:2602.11082},
year = {2026}
}
备注
Accepted for publication in the IEEE Transactions on Field Robotics