迁移到dhxdl

2026-08-24 17:26:17 +08:00
commit 5d5507bd28
29 changed files with 10894 additions and 0 deletions
@@ -0,0 +1,73 @@
+% Loading operation in an open-pit mine loading area.
+% Semi-enclosed drivable region with a single entrance, an excavator working
+% against the bench face, and a truck at the designated loading pose.
+\documentclass[border=1pt]{standalone}
+\input{figstyle}
+\begin{document}
+\begin{tikzpicture}[scale=0.094]
+
+  % ---------- terrain / non-drivable surroundings -------------------------
+  \begin{scope}
+    \clip (-3,-1) rectangle (79,44);
+    \fill[fillc] (-3,-1) rectangle (79,44);
+    \draw[pattern=north east lines, pattern color=sitec!55, draw=none]
+          (-3,-1) rectangle (79,44);
+  \end{scope}
+
+  % ---------- drivable loading area (Omega_free) --------------------------
+  \def\sitepath{
+      (0,10) -- (16,6.5) -- (33,5) -- (50,6.5) -- (63,11) -- (70,19)
+             -- (66,30) -- (52,36) -- (36,35) -- (21,30) -- (8,24) -- (0,20)
+  }
+  \fill[white] \sitepath -- cycle;
+  \draw[siteline] \sitepath;
+
+  % ---------- entrance ----------------------------------------------------
+  \draw[white, line width=1.4pt] (0.2,10.4) -- (0.2,19.6);
+  \draw[->, line width=0.7pt, sitec] (-9,15) -- (-1.2,15);
+  \node[ann, sitec, align=center] at (-9,20.5) {single\\entrance};
+
+  % ---------- bench face / ore pile --------------------------------------
+  % jagged toe line along the upper-right boundary
+  \draw[siteline, sitec]
+       (70,19) -- (72.5,22) -- (69.5,25) -- (72,28) -- (68,31)
+              -- (70,34) -- (65,35.5) -- (66,38.5) -- (60,38) -- (55,40);
+  \node[ann, sitec, align=center] at (60,25.5) {bench face\\/ ore pile};
+  \node[ann, sitec] at (12,38) {$\Omega_\text{obs}$};
+  \node[ann] at (20,15) {$\Omega_\text{free}$};
+
+  % ---------- excavator ---------------------------------------------------
+  \begin{scope}[shift={(57,31)}, rotate=-155]
+    \draw[veh, fill=sitec!35] (-3.2,-2.0) rectangle (3.2,2.0);   % tracks
+    \draw[veh, fill=sitec!70] (-1.8,-1.5) rectangle (1.4,1.5);   % house
+    \draw[line width=0.9pt, sitec] (1.2,0.6) -- (5.6,2.6);       % boom
+    \draw[line width=0.9pt, sitec] (5.6,2.6) -- (7.4,-0.6);      % stick
+    \draw[veh, fill=sitec!45] (7.4,-0.6) -- (8.9,-1.9) -- (7.4,-2.9)
+                              -- (6.4,-1.5) -- cycle;            % bucket
+  \end{scope}
+  \node[ann, sitec] at (57,36.5) {excavator};
+
+  % ---------- truck at the loading pose ----------------------------------
+  % rear-axle centre at (44,24), heading 205 deg, L_v = 12 m, B_v = 3 m,
+  % rear overhang 1.5 m (body spans a in [-1.5, 10.5] in body frame)
+  \begin{scope}[shift={(44,24)}, rotate=205]
+    \draw[veh, parkc, fill=parkc!12] (-1.5,-1.5) rectangle (10.5,1.5);
+    \draw[veh, parkc, fill=parkc!30] (6.6,-1.5) rectangle (10.5,1.5); % cab
+    \foreach \sx in {0,6.5}{
+      \foreach \sy in {-1.5,1.5}{
+        \draw[line width=0.4pt, parkc, fill=parkc!60]
+              (\sx-0.9,\sy-0.28) rectangle (\sx+0.9,\sy+0.28);
+      }
+    }
+    \fill[parkc] (0,0) circle (0.42);
+  \end{scope}
+  \node[ann, parkc, align=center] at (34,20)
+       {loading pose\\$\boldsymbol{\eta}_\text{load}$};
+  \draw[->, line width=0.5pt, parkc] (37.5,22.6) -- (42,23.4);
+
+  % ---------- shared channel ---------------------------------------------
+  \draw[<->, line width=0.5pt, sitec] (6,14.2) -- (16.5,11.3);
+  \node[annt, sitec, align=center] at (12.5,7.6) {shared\\channel};
+
+\end{tikzpicture}
+\end{document}