公开(公告)号：US20230305572A1

公开(公告)日：2023-09-28

申请号：US18022645

申请日：2022-02-23

Applicant: CHINA UNIVERSITY OF MINING AND TECHNOLOGY

Inventor： Chunyu YANG ,  Zhencai ZHU ,  Yidong ZHANG ,  Xin ZHANG ,  Zhen GU

IPC: G05D1/02 ,  G06V20/56 ,  G06T7/593 ,  G06V20/70 ,  G06V20/40 ,  G06T7/155 ,  G06T7/00 ,  G06T5/20 ,  G06T5/10 ,  G06V20/58

CPC classification number: G05D1/0251 ,  G05D1/0214 ,  G06T5/10 ,  G06T5/20 ,  G06T7/0012 ,  G06T7/155 ,  G06T7/593 ,  G06V20/41 ,  G06V20/58 ,  G06V20/588 ,  G06V20/70 ,  G05D2201/0202 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/20021 ,  G06T2207/20028 ,  G06T2207/20036 ,  G06T2207/20048 ,  G06T2207/20081 ,  G06T2207/30256 ,  G06T2207/30261

Abstract: A method for drivable area detection and autonomous obstacle avoidance of unmanned haulage equipment in deep confined spaces is disclosed, which includes the following steps: acquiring 3D point cloud data of a roadway; computing a 2D image drivable area of the coal mine roadway; acquiring a 3D point cloud drivable area of the coal mine roadway; establishing a 2D grid map and a risk map, and performing autonomous obstacle avoidance path planning by using an improved particle swarm path planning method designed for deep confined roadways; and acquiring an optimal end point to be selected of a driving path by using a greedy strategy, and enabling an unmanned auxiliary haulage vehicle to drive according to the optimal end point and an optimal path. According to the present disclosure, images of a coal mine roadway are acquired actively by use of a single-camera sensor device, a 3D spatial drivable area of an auxiliary haulage vehicle in a deep underground space can be computed stably, accurately and rapidly, and the autonomous obstacle avoidance driving of the unmanned auxiliary haulage vehicle in a deep confined roadway is completed according to the drivable area detection and safety assessment information, and therefore, the method of the present disclosure is of great significance to the implementation of an automatic driving technology for an auxiliary haulage vehicle for coal mines.