Tiandi(Changzhou) Automation Co., Ltd.
CCTEG Changzhou Research Institute
School of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics

矿用无人驾驶车辆的工作环境光照条件复杂，行人检测经常出现漏检现象，导致矿用无人驾驶车辆可靠性及安全性不足。针对巷道光照条件复杂的问题，提出了一种弱光图像增强算法：将弱光图像由RGB图像空间分解为HSV图像空间，通过Logarithm函数对亮度分量先进行光照，再通过双边滤波器去除噪声；采用形态学对饱和度分量进行闭操作，再通过高斯滤波器滤除噪声；将图像转换回RGB图像空间，通过半隐式ROF去噪模型对图像再次进行去噪，得到增强图像。针对行人检测存在漏检、精度低的问题，提出了一种基于改进YOLOv3的矿用无人驾驶车辆行人检测算法：采用密集连接块取代YOLOv3中的Residual连接，提高特征图利用率；采用Slim−neck结构优化YOLOv3的特征融合结构，使得特征图之间能够进行高效的信息融合，进一步提高对小目标行人的检测精度，并利用其内部特殊的轻量化卷积结构，提高检测速度；加入轻量级的卷积注意力模块（CBAM）增强算法对目标类别和位置的注意程度，提高行人检测精度。实验结果表明：① 提出的弱光图像增强算法能够有效提高图像可见度，图像中行人的纹理更加清晰，并具有更好的噪声抑制效果。② 基于增强后图像的矿用无人驾驶车辆行人检测算法的平均精度达95.68%，相较于基于改进YOLOv7和ByteTrack的煤矿关键岗位人员不安全行为识别算法、YOLOv5、YOLOv3算法分别提高了2.53%，6.42%，11.77%，且运行时间为29.31 ms。③ 基于增强后图像，YOLOv3和基于改进YOLOv7和ByteTrack的煤矿关键岗位人员不安全行为识别算法出现了漏检和误检的问题，而矿用无人驾驶车辆行人检测算法有效改善了该问题。

The working environment of mining unmanned vehicles features complex lighting conditions, leading to frequent occurrences of missed detections in pedestrian detection, which undermines the reliability and safety of these vehicles. To address the challenges posed by intricate tunnel lighting conditions, a low-light image enhancement algorithm was proposed. This algorithm decomposed low-light images from the RGB color space into the HSV color space, applied a Logarithm function to enhance the V component, and employed a bilateral filter to reduce noise. Morphological operations were applied to the S component for closing, followed by Gaussian filtering to further eliminate noise. The enhanced image was then transformed back into the RGB color space and subjected to a semi-implicit ROF denoising model for additional noise reduction, resulting in an enhanced image. To tackle issues of missed detections and low accuracy in pedestrian detection, an improved YOLOv3-based pedestrian detection algorithm for mining unmanned vehicles was introduced. This approach replaced the Residual connections in YOLOv3 with densely connected modules to enhance feature map utilization. Additionally, a Slim-neck structure optimized the feature fusion architecture of YOLOv3, facilitating efficient information fusion between feature maps and further improving the detection accuracy for small-target pedestrians, while its unique lightweight convolutional structure enhanced detection speed. Finally, a lightweight convolutional block attention module (CBAM) was integrated to improve attention to object categories and locations, thereby enhancing pedestrian detection accuracy. Experimental results demonstrated that the proposed low-light image enhancement algorithm effectively improved image visibility, making pedestrian textures clearer and achieving better noise suppression. The average precision of the pedestrian detection algorithm for mining unmanned vehicles based on enhanced images reached 95.68%, representing improvements of 2.53%, 6.42%, and 11.77% over YOLOv5, YOLOv3, and a coal mine key position personnel unsafe behavior recognition method based on improved YOLOv7 and ByteTrack, respectively, with a runtime of 29.31 ms. YOLOv3 and a coal mine key position personnel unsafe behavior recognition method based on improved YOLOv7 and ByteTrack experienced missed detections and false positives based on enhanced images, while the proposed pedestrian detection algorithm effectively mitigated these issues.

江苏省科技成果转化专项项目（BA2022040）；天地科技股份有限公司科技创新创业资金专项项目（2023-TD-ZD005-003）；天地(常州)自动化股份有限公司科研项目(2022TY1003)。

周李兵，于政乾，卫健健，等. 矿用无人驾驶车辆行人检测技术研究[J]. 工矿自动化，2024，50（10）：29-37.

ZHOU Libing, YU Zhengqian, WEI Jianjian, et al. Research on pedestrian detection technology for mining unmanned vehicles[J]. Journal of Mine Automation，2024，50（10）：29-37.