公开(公告)号：US11880208B2

公开(公告)日：2024-01-23

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 ,  Qingguo Wang

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 a 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. Images of a coal mine roadway are acquired actively by use of a single-camera sensor device.