阅读说明：本技术 一种基于矿山无人驾驶的寻路方法 (Road finding method based on mine unmanned driving ) 是由 胡心怡 杨扬 于 2021-09-10 设计创作，主要内容包括：本发明涉及无人驾驶相关技术,公开了一种基于矿山无人驾驶的寻路方法,通过以终点位置信息作为引导,并根据对周边矿山环境信息的获取以及高度差的连续性分析,实现获取车辆能够前进的道路并引导车辆前进的目的,且通过对矿车车辆驶过的路径进行地面强度数据的采集和安全评级,实现了对矿山中各处可行驶路径的安全性进行记录和存储,从而获取一个能够被不断自动更新和扩展的矿山车辆行进道路图,相较于现有技术,能够无需人员参与而对未知的矿山进行良好的勘测和开发,解决了现有技术只能依附于平坦人造路面寻路前进的限制性,能够更好的应用于各种高危工业场所。(The invention relates to the unmanned related technology, and discloses a road finding method based on mine unmanned driving, by taking the end point position information as guidance and according to the acquisition of the surrounding mine environment information and the continuous analysis of the height difference, the purposes of acquiring the road on which the vehicle can move and guiding the vehicle to move are achieved, and the safety of the driving paths of the mine can be recorded and stored by collecting the ground strength data and carrying out safety rating on the driving paths of the mine car, thereby obtain a mine vehicle that can be constantly updated automatically and the extension road map of marcing, compare in prior art, can need not personnel to participate in and carry out good survey and development to unknown mine, solved prior art and can only depend on the restriction that the flat man-made road surface seeks the way and advance, can be better be applied to various high-risk industrial places.)

1. A route finding method based on mine unmanned driving is characterized by comprising the following steps:

acquiring end point position information, generating starting point position information according to the current position of the mine car vehicle, accessing a preset safety path library, and generating an initial path-finding path according to the starting point position information and the end point position information, wherein the initial path-finding path is a combined path of a straight path and a safety path;

collecting mine environment information in a preset range around the current position, wherein the mine environment information comprises height data and liquid distribution data, generating a local twin model of a mine according to the mine environment information, carrying out high continuity analysis on the twin model to generate a plurality of local pre-selection paths, comparing included angles of the local pre-selection paths according to the initial path-finding path, guiding a mine car according to the local pre-selection path with the minimum included angle of the path, and updating the initial path-finding path;

collecting and obtaining ground strength information, wherein the ground strength information is used for representing the safety degree of the road surface of the local preselected path for guiding the tramcar;

and carrying out safety index rating on the local preselected path according to the ground strength information to generate a safety rating result, if the rating result is safe, storing the local preselected path in a safety path library as a safety path, and if the rating result is unsafe, carrying out danger marking on the local preselected path and storing the local preselected path in a dangerous path library.

2. The mine unmanned based path-finding method as claimed in claim 1, wherein the safe path library and the dangerous path library each store the safe path and the dangerous path in the twin model.

3. The mine unmanned-based path finding method according to claim 1, wherein the step of collecting mine environment information within a preset range around the current position comprises:

collecting mine environment information in a range of 90 degrees at two sides of the initial path-finding path, wherein the mine environment information is first pre-selection range information;

and collecting mine environment information in a range of 90-180 degrees at two sides of the initial path-finding path, wherein the mine environment information is second pre-selection range information, the use priority of the first pre-selection range information is greater than that of the second pre-selection range information, and when a local pre-selection path is not generated by using the first pre-selection range information, the second pre-selection range information is used.

4. The mine unmanned-based path-finding method according to claim 3, wherein the step of generating a local mine twin model according to the mine environment information, performing high-degree continuity analysis on the twin model, and generating a plurality of local pre-selected paths specifically comprises:

reading the mine environment information, and generating a local twin model of the mine according to the mine environment information;

establishing a circular coordinate system by taking the current position as a circle center radius direction as a coordinate;

establishing an analysis and analysis circular ring at a preset coordinate interval;

correspondingly subtracting the height data of each point on the analysis circular ring from the height data of the previous analysis circular ring in the radius direction to generate a continuous analysis difference value;

analyzing the liquid distribution data, wherein the liquid distribution data comprises depth data, and if the liquid depth of a certain point on the analysis circular ring is greater than a preset depth threshold value, setting the continuous analysis difference value corresponding to the point as positive infinity;

and judging the continuous analysis difference values according to a preset continuous travelling threshold value, and generating a plurality of local preselected paths, wherein the continuous travelling threshold value is the maximum continuous analysis difference value which can be passed by the mine car in the travelling process.

5. The mine unmanned based path-finding method according to claim 1, wherein the step of comparing the included path angles of the local preselected paths according to the initial path-finding log, and guiding the tramcar according to the local preselected path with the smallest included path angle specifically comprises:

sequentially acquiring the local preselected path, and acquiring a path included angle between the local preselected path and the initial path-finding path;

comparing the path included angles of the local preselected paths in size, and generating a size sequence;

and reading the local preselected path with the smallest included path angle, and guiding the mine car according to the local preselected path.

6. The mine unmanned based path-finding method according to claim 5, wherein the step of reading the local pre-selected path with the smallest included path angle and guiding the tramcar according to the local pre-selected path further comprises the following steps:

comparing and judging the local preselected path with a dangerous path library;

and if the local preselected path is provided with a danger mark, deleting the size sequence of the local preselected path and reading the local preselected path with the minimum path included angle.

7. The mine unmanned based path-finding method of claim 1, wherein the ground strength information comprises a depth of penetration characterizing a depth of penetration of the wheels of the tramcar vehicle into the ground surface, and a surface tension characterizing a degree of surface tension of the ground surface after the vehicle penetrates into the ground surface.

8. The mine unmanned based path-finding method as claimed in claim 7, wherein the mine car is guided through the safe path, ground strength information is collected and the safety index is graded to generate a safety grade result, and if the safety grade result is unsafe, the safe path is deleted from the safe path library and stored in the dangerous path library.

Technical Field

The invention relates to the technical field of unmanned driving, in particular to a road finding method based on mine unmanned driving.

Background

With the rapid development of economy and science and technology, in recent years, unmanned driving gradually becomes one of the mainstream topics in various technologies, and is also gradually applied to aspects of life and production, such as automatic driving of automobiles, automatic parking technology, sweeping robots and the like, and all the devices or technologies have the unmanned automatic driving function.

In the prior art, more oriented use scenes of the unmanned technology are mostly fixed and continuous, such as a flat road or an indoor ground space, so that the traditional method for finding the route in the use of the unmanned technology is mostly of a determined route guidance type, that is, the vehicle can be guided to complete the unmanned process through a uniform and established route in a flat traveling surface (such as a road, an indoor ground and the like), and the route finding system of the vehicle can complete the whole driving process only by judging and avoiding roadblocks in the process of driving the vehicle to automatically drive.

However, the road-finding system in the prior art is only suitable for artificial tracks and pavements which are environment-friendly and basically free of terrain change, and cannot cope with natural environments such as mines and the like which have complex terrains and can change terrains along with time change, and as the unmanned technology is gradually matured, it is necessary to apply the unmanned technology to such work scenes with higher personnel safety risks.

Disclosure of Invention

The invention aims to provide a route searching method based on mine unmanned driving to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

a route finding method based on mine unmanned driving is characterized by comprising the following steps:

acquiring end point position information, generating starting point position information according to the current position of the mine car vehicle, accessing a preset safety path library, and generating an initial path-finding path according to the starting point position information and the end point position information, wherein the initial path-finding path is a combined path of a straight path and a safety path;

collecting mine environment information in a preset range around the current position, wherein the mine environment information comprises height data and liquid distribution data, generating a local twin model of a mine according to the mine environment information, carrying out high continuity analysis on the twin model to generate a plurality of local pre-selection paths, comparing included angles of the local pre-selection paths according to the initial path-finding path, guiding a mine car according to the local pre-selection path with the minimum included angle of the path, and updating the initial path-finding path;

collecting and obtaining ground strength information, wherein the ground strength information is used for representing the safety degree of the road surface of the local preselected path for guiding the tramcar;

and carrying out safety index rating on the local preselected path according to the ground strength information to generate a safety rating result, if the rating result is safe, storing the local preselected path in a safety path library as a safety path, and if the rating result is unsafe, carrying out danger marking on the local preselected path and storing the local preselected path in a dangerous path library.

As a further scheme of the invention: the safe path library and the dangerous path library both store the safe path and the dangerous path in the twin model.

As a further scheme of the invention: the step of collecting mine environment information in a preset range around the current position comprises the following steps:

collecting mine environment information in a range of 90 degrees at two sides of the initial path-finding path, wherein the mine environment information is first pre-selection range information;

and collecting mine environment information in a range of 90-180 degrees at two sides of the initial path-finding path, wherein the mine environment information is second pre-selection range information, the use priority of the first pre-selection range information is greater than that of the second pre-selection range information, and when a local pre-selection path is not generated by using the first pre-selection range information, the second pre-selection range information is used.

As a further scheme of the invention: the steps of generating a local twin model of the mine according to the mine environment information, performing high-degree continuity analysis on the twin model, and generating a plurality of local preselected paths specifically comprise:

reading the mine environment information, and generating a local twin model of the mine according to the mine environment information;

establishing a circular coordinate system by taking the current position as a circle center radius direction as a coordinate;

establishing an analysis and analysis circular ring at a preset coordinate interval;

correspondingly subtracting the height data of each point on the analysis circular ring from the height data of the previous analysis circular ring in the radius direction to generate a continuous analysis difference value;

analyzing the liquid distribution data, wherein the liquid distribution data comprises depth data, and if the liquid depth of a certain point on the analysis circular ring is greater than a preset depth threshold value, setting the continuous analysis difference value corresponding to the point as positive infinity;

and judging the continuous analysis difference values according to a preset continuous travelling threshold value, and generating a plurality of local preselected paths, wherein the continuous travelling threshold value is the maximum continuous analysis difference value which can be passed by the mine car in the travelling process.

As a further scheme of the invention: the step of comparing the included path angles of the local preselected paths according to the initial path-finding path and guiding the mine car according to the local preselected path with the minimum included path angle specifically comprises the following steps:

sequentially acquiring the local preselected path, and acquiring a path included angle between the local preselected path and the initial path-finding path;

comparing the path included angles of the local preselected paths in size, and generating a size sequence;

and reading the local preselected path with the smallest included path angle, and guiding the mine car according to the local preselected path.

As a further scheme of the invention: the step of reading the local preselected path having the smallest path included angle and guiding the tramcar according to the local preselected path further comprises the following steps of:

comparing and judging the local preselected path with a dangerous path library;

and if the local preselected path is provided with a danger mark, deleting the size sequence of the local preselected path and reading the local preselected path with the minimum path included angle.

As a further scheme of the invention: the ground strength information comprises a sinking depth and a surface tightness, the sinking depth is used for representing the depth of wheels of the mine car sunk into the ground surface, and the surface tightness is used for representing the surface tightness of the ground surface after the car sunk into the ground surface.

As a further scheme of the invention: and when the mine car is guided through the safe path, acquiring ground strength information and carrying out the safety index rating to generate a safety rating result, and if the safety rating result is unsafe, deleting the safe path in the safe path library and storing the safe path in the dangerous path library.

Compared with the prior art, the invention has the beneficial effects that: by taking the terminal position information as guidance, and according to the acquisition of the surrounding mine environment information and the continuity analysis of the height difference, the purposes of acquiring the road where the vehicle can advance and guiding the vehicle to advance are achieved, and by carrying out ground intensity data acquisition and safety rating on the path where the mine vehicle runs, the safety of the running paths at all places in the mine is recorded and stored, so that a mine vehicle running road map which can be continuously and automatically updated and expanded is achieved.

Drawings

Fig. 1 is a flow chart of a route finding method based on mine unmanned driving.

Fig. 2 is a sectional view of mine environment information acquired in a road finding method based on mine unmanned driving.

Fig. 3 is a block diagram of a process for generating a preselected path in a route-finding method based on mine unmanned driving.

Fig. 4 is a diagram of a judgment process for selecting a local preselected path with a minimum included angle in a route-finding method based on unmanned mining.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The following detailed description of specific embodiments of the present invention is provided in connection with specific embodiments.

As shown in fig. 1, a route finding method based on mine unmanned driving according to an embodiment of the present invention includes the following steps:

s200, acquiring the end point position information, generating start point position information according to the current position of the mine car, accessing a preset safety path library, and generating an initial path-finding path according to the start point position information and the end point position information, wherein the initial path-finding path is a combined path of a straight path and a safety path.

In this embodiment, in this step, the unmanned system generates an initial path according to the starting point position information (i.e., the current location of the mine car) and the end point position information, where the safety path library is initially blank, i.e., in a case where the corresponding mine is not developed or is not completely developed, there is not a large amount of road data available for use, and therefore the initial path-finding path is a straight path (or a blank path, i.e., guiding the mine car to move toward a direction and a destination), and after having a certain number of times of data recorded by the running of the mine car, the safety path library stores a certain number and length of safety paths, and the initial path-finding path is generated (including or included) depending on the safety paths.

S400, collecting mine environment information in a preset range around the current position, wherein the mine environment information comprises height data and liquid distribution data, generating a local twin model of a mine according to the mine environment information, carrying out high-degree continuity analysis on the twin model, generating a plurality of local pre-selection paths, comparing included angles of the local pre-selection paths according to the initial path-finding path, guiding a mine car according to the local pre-selection path with the minimum included angle of the path, and updating the initial path-finding path.

In this embodiment, it is one of the main steps of active routing, in which a drawing (twin model) is constructed by collecting the surrounding environment (mainly collecting height information and distinguishing liquid and solid), and then according to the information, a drawing (mainly referring to water body) is constructed by using height data of several Z-axes, and the drawing has a distinguishing label on the liquid (mainly referring to water body), although the drawing is not completely continuous, and is composed of several vertical columns, that is, the drawing has a certain resolution in a plane (for example, each column constituting the drawing is a cube of 10cm or a cylinder with a radius of 5 (here, the drawing is interpreted as a three-dimensional structure)), then, in the automatic routing, the direction of the initial routing path is taken as a guiding direction, and the analysis of the continuity of the height on the drawing refers to the analysis of the Z-axis data on the drawing, and analyzing and judging the height information in the starting point position information of the current position, judging that the direction is changeable to be passable when the height difference in one direction is smaller than a preset certain value, namely representing that the mine car can safely run between the height differences or be understood to climb up and down the slope, and after analysis, inevitably having a plurality of directions (namely local preselected paths) and driving the car to advance by selecting the direction with the smallest included angle with the guiding direction as the advancing direction, wherein after the car moves, the initial path-seeking path is updated along with the change of the current position of the car.

S600, collecting and obtaining ground strength information, wherein the ground strength information is used for representing the safety degree of the road surface of the local preselected path for guiding the mine car.

In this embodiment, this step is collected during the traveling of the vehicle, for example, by arranging a sensor on the bottom of the vehicle or on a tire, and by collecting the ground strength information, it is possible to determine the safety of the road after passing the road once, and determine whether the road of this portion is safe for the tramcar to travel safely.

And S800, carrying out safety index rating on the local preselected path according to the ground strength information to generate a safety rating result, if the rating result is safe, storing the local preselected path in a safety path library as a safety path, and if the rating result is unsafe, carrying out danger marking on the local preselected path and storing the local preselected path in a danger path library.

In this embodiment, the step is a supplementary processing content of step S600, where a safety index rating determination needs to be performed on the ground according to the ground strength information, where a rating determination criterion is preset according to various requirements of the mine car vehicle, the cargo, and the like, if it is determined that the mine car is safe in the rating determination, the mine car is stored in the safety path library, and if the mine car is not safe, the mine car is stored in the dangerous path library, and both the safety path library and the dangerous path library are used for the running wheel-seeking reference of the subsequent vehicle, where both the safety path library and the dangerous path library exist in a twin model state, that is, both the safety path library and the dangerous path library are used for supplementing the path information in the twin model.

As another preferred embodiment of the present invention, the safety path library and the hazard path library each store the safety path and the hazard path in the twin model.

In this embodiment, the safe path library and the dangerous path library both store information in the state of the twin model, that is, the safe path library and the dangerous path library are both used for supplementing the path information in the twin model, and the map is expanded and updated by the continuous way-finding and form of the mine car.

As shown in fig. 2, as another preferred embodiment of the present invention, the step of collecting mine environment information within a preset range around the current position includes:

s411, collecting mine environment information in a range of 90 degrees at two sides of the initial path-finding path, wherein the mine environment information is first pre-selection range information;

s412, mine environment information in a range from 90 degrees to 180 degrees on two sides of the initial path-finding path is collected, the mine environment information is second pre-selection range information, the using priority of the first pre-selection range information is greater than that of the second pre-selection range information, and when a local pre-selection path is not generated by using the first pre-selection range information, the second pre-selection range information is used.

In this embodiment, the setting manner can greatly reduce the amount of calculation for data acquisition, accelerate the processing efficiency of the relevant program on the data processing result, and effectively reduce the time consumed in the whole route-finding process (for a certain node, the time consumption may be equal to or longer than that of a non-partitioned processing manner, but under the condition of determining the destination direction, the time saved is far longer than the time wasted).

As shown in fig. 3, as another preferred embodiment of the present invention, the generating a twin model of a local part of the mine according to the mine environment information, and performing a high-degree continuity analysis on the twin model, wherein the generating a plurality of local preselected paths specifically includes:

and S421, reading the mine environment information, and generating a local twin model of the mine according to the mine environment information.

S422, establishing a circular coordinate system by taking the current position as the radius direction of the circle center as the coordinate.

And S423, establishing an analysis and analysis circular ring at preset coordinate intervals.

And S424, correspondingly subtracting the height data of each point on the analysis circular ring from the height data of the previous analysis circular ring in the radius direction to generate a continuous analysis difference value.

S425, analyzing the liquid distribution data, wherein the liquid distribution data comprises depth data, and if the liquid depth of a certain point on the analysis circular ring is greater than a preset depth threshold value, setting the continuous analysis difference value corresponding to the point to be infinite.

And S426, judging the continuous analysis difference values according to a preset continuous travelling threshold value, and generating a plurality of local preselected paths, wherein the continuous travelling threshold value is the maximum continuous analysis difference value which can be passed by the mine car in the travelling process.

In this embodiment, a description is given of a step of generating a local twin model of a mine from the mine environment information, performing high-level continuity analysis on the twin model, and generating a plurality of local preselected paths, where the main content of this step is to perform calculation and determination of a ground height difference on the acquired mine environment information, that is, determine a height change condition of the ground in a unit distance, and if the height change of the ground in the unit distance is large and exceeds a normal running range of a mine car, the mine car may not be used as a running direction of the car, otherwise, the mine car may move forward, that is, the local preselected paths may be generated.

As another preferred embodiment of the present invention, the step of comparing the included path angles of the local preselected paths according to the number of the initial seek paths and guiding the tramcar according to the local preselected path with the smallest included path angle specifically includes:

and sequentially acquiring the local preselected path, and acquiring a path included angle between the local preselected path and the initial path-searching path.

And comparing the path included angles of the local preselected paths in size, and generating a size sequence.

And reading the local preselected path with the smallest included path angle, and guiding the mine car according to the local preselected path.

In this embodiment, the step of finally judging and selecting the local preselected path is described, and the selection is based on the local preselected path having the smallest included angle with the initial route-seeking path, so that the mine car can always advance towards the destination position by adopting the selection mode, the detour condition caused by random selection is avoided, and the final advancing path can be effectively reduced.

As shown in fig. 4, as another preferred embodiment of the present invention, the step of reading the local preselected path with the smallest included path angle and guiding the tramcar according to the local preselected path may further comprise the following steps:

and comparing the local preselected path with a dangerous path library for judgment.

And if the local preselected path is provided with a danger mark, deleting the size sequence of the local preselected path and reading the local preselected path with the minimum path included angle.

In this embodiment, this step is complementary to the decision making step of selecting a local preselected path to guide the tram vehicle forward, where after the local preselected path is selected, a safety decision is made as to whether it is a recorded and unsafe path, and if so, the local preselected path is not selected, and another local preselected path with a slightly larger included angle is selected (of course, a decision is also made) to reduce the probability of an accident occurring during the vehicle traveling process.

As another preferred embodiment of the invention, the ground strength information includes a depth of penetration indicative of the depth of penetration of the wheels of the tramcar vehicle into the ground surface, and a surface tightness indicative of the degree of surface tightness of the ground surface after penetration of the vehicle into the ground surface.

In the embodiment, the specific description of the ground surface strength information is that the safety of the area can be judged to a certain extent through the sinking depth and the surface tightness, so that the safe and unsafe areas can be marked after processing, and the subsequent route-finding selection of the mine car can be facilitated.

As another preferred embodiment of the present invention, when the tramcar is guided through the safety route, the mine car collects ground strength information and performs the safety index rating to generate a safety rating result, and if the safety rating result is unsafe, the safety route is deleted from the safety route library and stored in the dangerous route library.

In this embodiment, the step is an updating step of the safe path library, and the road condition changes along with the change of time and the use of the road, so that when the originally safe path is not safe, the originally safe path needs to be deleted, and when the follow-up vehicle searches the path again, a safer road can be selected to advance.

It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in various embodiments may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.