In order to cope with the special conditions of hard soil and large soil cutting volume in autonomous slope repair operations, the existing autonomous slope repair process is improved, and a real-time monitoring and feedback system is proposed to be built for the excavator using binocular vision. The system includes the estimation of the total amount of soil cut in the slope repair project, the real-time estimation of the amount of soil cut and the real-time judgement of the slope flatness. After experimental verification, the height error of the binocular camera on the slope detection can be controlled within 3cm, the distance error between the upper edge of the soil pile and the camera is within 2cm, and the error between the estimation of the volume of soil before and after the construction and the actual measurement is within 0.02m³, which meets the accuracy requirements of the autonomous slope repair construction. It meets the accuracy requirements of the slope repair construction.
In view of the harsh environment of the construction site, and the difficulty of directly measuring the height and volume information of the mound unloaded in the construction site, a volume measurement method based on binocular vision is proposed. The experimental results show that the error rate of volume measurement is less than 6% and the error rate of soil height measurement is less than 3.5%, meeting the construction requirements. It can achieve the volume estimation, soil height information extraction and soil positioning of the bulldozer in the process of travel, and provide information support for the planning of the bucket movement trajectory of the bulldozer.
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