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工程设计学报  2024, Vol. 31 Issue (1): 42-49    DOI: 10.3785/j.issn.1006-754X.2024.03.302
数字化与智能化设计     
基于信息融合和多粒度级联森林模型的挖掘机作业阶段智能识别
苏德赢(),王少杰,卜祥建,饶红艳,侯亮()
厦门大学 萨本栋微米纳米科学技术研究院,福建 厦门 361102
Working stage identification of excavators based on information fusion and multi-granularity cascaded forest model
Deying SU(),Shaojie WANG,Xiangjian BU,Hongyan RAO,Liang HOU()
Pen -Tung Sah Institute of Micro-Nano Science and Technology, Xiamen University, Xiamen 361102, China
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摘要:

为了解决挖掘机作业阶段识别方法可靠性较低的问题,提出了一种基于信息融合和多粒度级联森林模型(information fusion and multi-granularity cascade forest model,IFMCFM)的智能识别方法。利用信息融合技术将挖掘机作业阶段的类别概率向量与高重要度特征进行融合,形成新的识别特征;将新特征输入级联森林模型,采用不同比例的训练集对模型进行训练并对识别结果进行分析;将IFMCFM的识别结果与DAGSVM(directed acyclic graph support vector machine,有向无环图支持向量机)、PCA-SVM(support vector machine based on principal component analysis,基于主成分分析的支持向量机)、LIBSVM(library for support vector machines,支持向量机库)和LSTM(long short-term memory,长短期记忆)的识别结果进行对比。研究结果表明:当训练集比例为80%时,IFMCFM的识别准确率、召回率和F1(精确度和召回率的调和平均数)指标分别为95.00%,95.17%和95.02%,识别效果较优;相比于其他识别模型,IFMCFM的识别准确性和可靠性最高。IFMCFM可以有效地识别挖掘机作业阶段,具有较高的应用价值。

关键词: 挖掘机作业阶段智能识别信息融合多粒度级联森林模型    
Abstract:

An intelligent recognition approach was proposed, which was based on information fusion and a multi-granularity cascaded forest model (IFMCFM) to tackle the challenge of low reliability in excavator working stage identification methods. Information fusion technology was utilized to merge the category probability vector of the excavator working stage with high-importance features, thereby forming new identification features. The novel features were subsequently fed into the cascaded forest model, which was trained using different proportions of the training set. Subsequent analysis was carried out on the identification results. The identification outcomes of IFMCFM were compared with those of other models, including DAGSVM (directed acyclic graph support vector machine), PCA-SVM (support vector machine based on principal component analysis), LIBSVM (library for support vector machines), and LSTM (long short-term memory). The research findings revealed that the recognition accuracy, recall, and F1 (harmonic average of accuracy and recall) index of IFMCFM were 95.00%, 95.17%, and 95.02% respectively, indicating good recognition performance when the training set ratio was 80%. In comparison to the other identification models, the highest accuracy and reliability were exhibited by IFMCFM. IFMCFM can effectively identify the operation stage of excavators and has high application value.

Key words: excavator    working stages    intelligent identification    information fusion    multi-granularity cascade forest model
收稿日期: 2023-10-28 出版日期: 2024-03-04
CLC:  TD 63+1  
基金资助: 国家重点研发计划资助项目(2020YFB1709901);国家自然科学基金面上项目(51975495);福州市科技计划项目(2022-P-022)
通讯作者: 侯亮     E-mail: 19920190154058@stu.xmu.edu.cn;hliang@xmu.edu.cn
作者简介: 苏德赢(1992—),男,福建三明人,博士生,从事工程机械仿真、节能控制及工业大数据等研究,E-mail: 19920190154058@stu.xmu.edu.cn, https://orcid.org/0000-0002-6122-4185
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引用本文:

苏德赢,王少杰,卜祥建,饶红艳,侯亮. 基于信息融合和多粒度级联森林模型的挖掘机作业阶段智能识别[J]. 工程设计学报, 2024, 31(1): 42-49.

Deying SU,Shaojie WANG,Xiangjian BU,Hongyan RAO,Liang HOU. Working stage identification of excavators based on information fusion and multi-granularity cascaded forest model[J]. Chinese Journal of Engineering Design, 2024, 31(1): 42-49.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2024.03.302        https://www.zjujournals.com/gcsjxb/CN/Y2024/V31/I1/42

图1  挖掘机运行数据采集现场
序号通道信号序号通道信号
1主泵1出口压力14斗杆先导压力
2主泵2出口压力15铲斗先导压力
3动臂大腔压力16回转先导压力
4动臂小腔压力17主泵出口油流量
5斗杆大腔压力18回转马达流量
6斗杆小腔压力19铲斗角度
7铲斗大腔压力20斗杆角度
8铲斗小腔压力21动臂角度
9回转马达进出口压力22动臂位移
10动臂先导压力23斗杆位移
11斗杆先导压力24铲斗位移
12铲斗先导压力25发动机转速
13动臂先导压力
表1  挖掘机的运行数据信息
图2  数据滤波前后主泵1出口压力和动臂大腔压力
图3  主泵压力和铲斗油缸压力的划分结果
序号重要度通道信号对应特征
10.142动臂先导压力均值
20.090斗杆小腔压力均值
30.074斗杆先导压力均值
40.074铲斗先导压力均方根值
50.073回转马达流量峰值
60.073铲斗先导压力标准差
70.072铲斗先导压力峰值
80.072动臂角度峰峰值
90.043动臂角度均方根值
表2  挖掘机运行数据特征的筛选结果
图4  挖掘机运行数据融合过程
图5  多粒度级联森林模型原理
图6  挖掘机9个重要运行数据特征对应的原始数据
结构超参数量值
多粒度扫描结构森林分类器数量2个
决策树数量100棵
滑动窗口大小2, 4, 6维
滑动步长1
级联森林结构森林分类器数量4个
决策树数量100棵
表3  多粒度级联森林模型的参数
训练集比例准确率召回率F1
8095.0095.1795.02
6092.5092.5392.50
4090.9590.9690.95
2088.3988.4088.38
1086.9887.0286.97
表4  不同训练集比例下挖掘机作业阶段的识别结果 (%)
评价指标挖掘提升回转卸料空斗返回挖掘准备
精准率96.4390.0093.1093.30100.00
召回率96.4396.4396.4392.8695.17
F196.4393.1094.7494.5596.30
表5  IFMCFM模型的识别结果 (%)
模型

评价

指标

挖掘

提升

回转

卸料

空斗

返回

挖掘

准备

DAGSVM精准率95.6593.8594.8592.8694.85
召回率92.3290.5693.5293.2092.55
F193.9692.1894.1893.0393.69
PCA-SVM精准率90.0589.0288.4590.1389.14
召回率90.1288.6585.5288.8387.68
F190.0888.8386.9689.4888.40
LIBSVM精准率99.0596.0289.4592.1393.14
召回率90.1298.0590.1285.4399.08
F194.1397.2589.0588.4596.45
LSTM精准率95.0092.0093.0093.0093.00
召回率84.0089.0093.0091.0098.00
F189.0090.0093.0092.0095.00
IFMCFM精准率96.4390.0093.1096.30100.00
召回率96.4396.4396.4392.8692.86
F196.4393.1094.7494.5596.30
表6  各模型的识别结果 (%)
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