Unmanned mine truck obstacle detection method

A technology of obstacle detection and obstacle, which is applied in the direction of radio wave measurement system, measurement device, radio wave reflection/reradiation, etc., can solve the unmanned mine truck obstacle detection application scene with weak ability and poor robustness To prevent missed detection, improve robustness, and ensure safety

Active Publication Date: 2020-08-14
JIANGSU XCMG CONSTR MASCH RES INST LTD
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Problems solved by technology

[0004] In order to solve the deficiencies in the prior art, the present invention provides an obstacle detection method for unmanned mining trucks, which solves the technical problems in the prior art that the unmanned mining truck obstacle detection ability is not strong and the robustness is not good.

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  • Unmanned mine truck obstacle detection method
  • Unmanned mine truck obstacle detection method
  • Unmanned mine truck obstacle detection method

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Embodiment Construction

[0028] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.

[0029] This embodiment discloses an unmanned mining truck obstacle detection method, refer to figure 1 , the specific steps are as follows:

[0030] The obstacle data acquired by laser radar and millimeter wave radar are respectively converted into the corresponding vehicle body coordinate system. Since there are many kinds of lidars, and there may be more than one of each, multi-sensor data fusion is required.

[0031] The detection of ground data uses multiple planes to fit the road surface, and combines the height difference of the grid map with the neighborhood difference detection. Traditional lidar processing solutions need to separate ground points and elevated points. On structured r...

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Abstract

The invention discloses an unmanned mine truck obstacle detection method, which comprises the following steps: converting obstacle data obtained by a laser radar and a millimeter wave radar into corresponding vehicle body coordinate systems respectively; drawing a 0, 1 binary image of a ground-high elevation point by adopting a grating map height difference in combination with field difference ground detection; clustering the high elevation points by adopting a multi-parameter model; judging whether the clustering result is an obstacle influencing normal running of the vehicle according to themotion trail of the vehicle; detecting whether the vehicle is in a drivable area; and matching the obstacle data acquired by the millimeter wave radar with the obstacle data acquired by the laser radar, and outputting a final result. According to the invention, based on the actual application environment of the mining dump truck, obstacles in a road are effectively detected, missing detection isprevented, and clustering is accurate; and the method is good in robustness, and reduces the false detection rate through the matching of the detection result of the laser radar and the detection result of the millimeter-wave radar through employing a scheme of the fusion of a plurality of radars.

Description

technical field [0001] The invention relates to the technical field of unmanned mining trucks, in particular to an obstacle detection method for unmanned mining trucks. Background technique [0002] The mine scene has a single operation and the scene is relatively simple, which is the best scene for the implementation of unmanned driving technology. Compared with urban roads, mine scene obstacle detection has the following characteristics: the road is rough and the mining truck is always in a bumpy state during driving, which affects the sensor data collection; road obstacles include falling rocks in addition to vehicles and pedestrians etc. The perception system needs to accurately detect obstacles of a certain size; there are no obvious curbs on the road, and the two sides of the road are mostly trees, weeds, and soil slopes, making it difficult to detect the drivable area. In addition, in the mining scene, the design of the perception system needs to consider harsh condi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/86G01S17/931G01S13/931G01S7/48G01S7/41G06K9/62
CPCG01S13/865G01S17/931G01S13/931G01S7/4802G01S7/4808G01S7/415G06F18/23
Inventor 赵斌艾云峰唐建林任良才
Owner JIANGSU XCMG CONSTR MASCH RES INST LTD
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