Local path planning method and system for intelligent driving in mine

Abstract

The invention discloses a local path planning method and system for intelligent driving in mines. Step 1: The vehicle-mounted laser radar detects characteristic beacons in the mine. If there are characteristic beacons, it means that the mine car is about to enter a curve and enters step 2. Otherwise, , indicating that the mine car is still going straight, go to step 3; step 2: extract the angle and distance information between the characteristic beacon and the mine car, calculate the position of the mine car according to the installation position of the beacon in the global coordinate system, and realize the navigation positioning error Correction, go to Step 4; Step 3: At the interface between the straight road and the curve, adjust the lateral offset of the reactive planning path according to the control error between the car body and the reactive planning path fed back by the mine car, so as to realize the lateral movement of the mine car before entering the bend Control correction; step 4: After the mine car enters the curve, generate the expected path of the mine car curve according to the turning direction indicated by the beacon. The invention can realize the reactive local path planning and trajectory generation of the unmanned mine car in the underground mine.

Description

technical field [0001] The invention relates to the technical field of intelligent driving and its control, in particular to a local path planning method and system for intelligent driving in mines. Background technique [0002] With the increase in the mining of mine resources in my country and the diversification of the mining environment, the intelligent development of underground unmanned mine vehicles has been widely accepted. At present, the driving of underground mining vehicles mostly adopts remote control mode with a low degree of intelligence. How to realize the positioning and intelligent driving of mining vehicles in underground mining areas with dim light and weak GPS signals is the key to improving mining productivity, reducing production costs, and adapting to the mining environment in mining areas. important research direction. [0003] At present, the path planning method of underground unmanned mining vehicles is mainly divided into two types, based on the...

AI Technical Summary

Problems solved by technology

At present, the driving of underground mining vehicles mostly adopts remote control mode with a low degree of intelligence. How to realize the positioning and intelligent driving of mining vehicles in underground mining areas with dim light and weak GPS signals is the key to improving mining productivity, reducing production costs, and adapting to the mining environment in mining areas. important research directions

[0003] At present, the path planning method of underground unmanned mining vehicles is mainly divided into two types, based on the reactive path planning method and the navigation-based path planning method. However, due to the weak GPS signal in the underground mining area, the navigation-based path planning method will cause GPS errors. The control error is large, so the reactive path planning method is often used

The reactive-based path planning method scans the mine tunnel in real time according to the on-board sensor, and then uses curve fitting to generate a planned path that meets the safety index. However, the planned path generated directly by the curve fitting method will have singularities. Larger curvature, which does not conform to the constraints of vehicle dynamics, causing the vehicle to be unable to track the curve

At the same time, in the narrow underground mining area, the path planning method based on the reactive type is very prone to large control errors before entering the bend, which makes it impossible to enter the bend smoothly

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