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基于机器视觉的露天矿挖掘机作业行为分析与识别

Research on operation behavior analysis and recognition of open-pit excavators based on machine vision

  • 摘要: 挖掘机是露天采矿的重要设备,实现挖掘机作业行为的精准分析与识别,对于改善挖掘装载作业效率和提高作业安全性具有重要意义。针对露天矿挖掘机作业行为具有的连续视觉特征模式,设计了一种基于机器视觉的挖掘机作业行为识别框架。首先,提出了基于多尺度特征融合的挖掘机检测模型YOLOv5s–GDN,该模型集成了信息聚集–分发结构GD模块(Gather-and-Distribute Mechanism)和NWD损失函数(Neighborhood Weighted Decomposition),通过将采集到的视频裁剪为连续帧输入该模块,获得挖掘机铲斗的目标检测框与位置信息;其次,利用DeepSort设备追踪模块为铲斗进行ID编号,并获得铲斗的坐标与轨迹信息;最后,通过引入Smooth L1损失函数提出了SlowFast–SL动作识别模块,实现了挖掘机作业行为的精准识别。实验结果表明,提出的挖掘机检测模型相较于YOLOv5s模型在mAP、精度和召回率指标上分别提升了0.69%、2.3%和4.69%。与YOLOv8s、YOLOv10s相比,YOLOv5s–GDN模型在推理速度和浮点运算次数保持优势的条件下,在mAP指标上分别提高了0.129%和0.269%。在动作识别方面,SlowFast–SL模型在平均分类准确率上达到了98.4%,显著优于C3D的92.6%、I3D的94.3%、TSN的96.4%、ResNet34+LSTM的92.3%以及TimeSformer的96.6%。提出的挖掘机行为识别模型在不同动作类型预测中具有更高的准确性,实现了挖掘机作业行为的精准识别,为设备作业效率分析提供了前提。

     

    Abstract: Excavators are important equipment in open-pit mining. Accurate analysis and identification of excavator operating behaviors are of great significance for improving loading efficiency and enhancing operational safety. Given the continuous visual feature patterns of excavator operations, this article proposes a machine vision-based framework for excavator behavior recognition. First, a multi-scale feature fusion-based excavator detection model, YOLOv5s–GDN, is introduced. This model integrates the Gather-and-Distribute Mechanism (GD) and the Neighborhood Weighted Decomposition (NWD) loss function. The captured video is segmented into consecutive frames and processed by this module to obtain the bounding boxes and positional data of the excavator bucket. Second, the DeepSort tracking module assigns ID numbers to the buckets and extracts their coordinates and trajectory information. Finally, the SlowFast–SL action recognition module is proposed by incorporating the Smooth L1 loss function, enabling precise identification of excavator operational behaviors. Experimental results demonstrate that the proposed excavator detection model achieves improvements of 0.69%, 2.3%, and 4.69% in mAP, precision, and recall, respectively, compared to the YOLOv5s. Compared with YOLOv8s and YOLOv10s, the YOLOv5s–GDN model achieved improvements in mAP by 0.129% and 0.269%, respectively, while maintaining advantages in inference speed and floating-point operations. In terms of action recognition, the SlowFast–SL model achieved an average classification accuracy of 98.4%, significantly outperforming C3D’s 92.6%, I3D’s 94.3%, TSN’s 96.4%, ResNet34+LSTM's 92.3%, and TimeSformer’s 96.6%. The excavator behavior recognition model proposed in this article achieves higher accuracy in predicting different action types, enabling precise identification of excavator operating behavior and providing a foundation for equipment efficiency analysis.

     

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