## 2 Research Status of Key Technology for Environmental Perception of Intelligent Excavators
### Research Status of LiDAR Vibration Reduction Technology
[31] studied the imaging ambiguity caused by airborne LiDAR caused by residual vibration after high-frequency vibration is suppressed by a vibration-damping platform, established a stochastic vibration fuzzy theoretical model, analyzed the mechanism of crosstalk effect between pixels, and studied the relationship between exposure time, pixel crosstalk radius and relative ranging error coefficient. The optimal exposure time satisfying the resolution requirement is obtained, and the ranging performance of the system is improved. [PERSON] et al. [32,33] conducted a focused study on how vibration affects the measurement accuracy of LiDAR. They examined the influence of both platform angular vibration and linear vibration, establishing a mathematical model for angular vibration. Their findings revealed that vertical vibrations have a more significant impact on image quality compared to vibrations along the horizontal route. In theoretical analysis, simulation, or modeling, the above methods all set relatively ideal assumptions, which are difficult to meet in practical engineering applications. In terms of hardware, [PERSON] et al. [34] designed a LiDAR vibration-damping platform by comprehensively adopting an aluminum alloy frame, an optical platform, and a wire rope shock absorber to solve the vibration problem of vehicle-mounted LiDAR. Through experimental verification, the platform can effectively reduce the impact of vibration on the accuracy of LiDAR measurement. [PERSON] et al. [35] established an anti-vibration system model to solve the problem that optically sensitive parts were affected by vibration under harsh conditions. They selected wire rope shock absorbers for reasonable structural layout and design, which effectively suppressed the influence of vibration. In addition, to solve the vibration problem of key electronic equipment in harsh environments, they optimized the selection of elastic and damping shock absorbers and selected the best installation position of the vibration absorber according to the vibration response characteristics, thereby providing effective vibration protection for critical electronic components [36]. Aiming at the impact of vibration on the measurement accuracy of airborne vision sensors, [PERSON] et al. [37] comprehensively compared the vibration damping performance and selected wire rope shock absorber with nonlinear hysteresis characteristics. They reasonably designed the shock absorber layout to avoid vibration coupling, effectively isolated the onboard vibration input, and improved the measurement accuracy and stability of the optoelectronic platform. [PERSON] et al. [38] designed a reasonable layout of a metal wire rope shock absorber to solve the problem of vibration of vehicle-mounted LiDAR, designed a vibration reduction scheme for the optical platform, and effectively improved the measure ment stability and accuracy. [PERSON] et al. [39], aiming at the imaging quality problem caused by the vibration of the airborne photoelectric detection platform, determined the installation position of the photoelectric detection platform by studying the carrier vibration environment. They established the vibration model of the vibration absorber of the photoelectric detection platform with the support of vibration theory and designed the vibration absorber. The experiment proved that the vibration absorber can effectively reduce the vibration intensity of the platform. [PERSON] et al. [40] proposed a sensing device that combines a single six-axis IMU with a beam structure to achieve the measurement of tiny vibrations. [PERSON] et al. [41] introduced a method for measuring ship ice-induced vibrations based on a miniature inertial sensing device. This method effectively collects acceleration data and enables real-time data storage through the integration of an internal inertial sensor module. [PERSON] et al. [42] proposed a comprehensive motion measurement method for real-time estimation of vibrations in the critical telescope of the stratospheric infrared observatory.