An obstacle detection method for unmanned mining trucks

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 problem of poor robustness and unmanned mine card obstacle detection applicable scene ability Strong and other issues, to achieve good robustness, prevent missed detection, and good robustness

Active Publication Date: 2022-05-06
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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  • An obstacle detection method for unmanned mining trucks
  • An obstacle detection method for unmanned mining trucks
  • An obstacle detection method for unmanned mining trucks

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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 obstacle detection method for unmanned mine trucks, which works according to the following steps: transforming obstacle data obtained by laser radar and millimeter wave radar into corresponding vehicle body coordinate systems respectively; Domain difference ground detection, draw a 0, 1 binary map of "ground-elevated points"; use a multi-parameter model to cluster the elevated points; according to the motion trajectory of the vehicle, determine whether the clustering result will affect the normal driving of the vehicle. Obstacles; detect whether the vehicle is in a drivable area; match the obstacle data obtained by the millimeter wave radar with the obstacle data obtained by the lidar, and output the final result. Aiming at the actual application environment of mining dump trucks, the invention can effectively detect obstacles in the road, prevent missed detection, and accurately cluster. The present invention has good robustness, adopts a variety of radar fusion schemes, and reduces the false detection rate by matching the detection result of the laser radar with the detection result of the millimeter wave radar.

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 Patents(China)
IPC IPC(8): G01S13/86G01S17/86G01S17/931G01S13/931G01S7/48G01S7/41G06K9/62G06V10/762
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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