A hybrid ore-prospecting robot complex-terrain path planning method and system

By generating a lithological grid distribution matrix and performing path expansion and intersection detection, the problem of unstable path planning in mining areas in existing technologies is solved, and the stability and continuity of robot paths in complex terrain are achieved.

CN122281931APending Publication Date: 2026-06-26CHINA GEOLOGICAL SURVEY NATURAL RESOURCES COMPREHENSIVE SURVEY COMMAND CENT
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
CHINA GEOLOGICAL SURVEY NATURAL RESOURCES COMPREHENSIVE SURVEY COMMAND CENT
Filing Date
2026-05-25
Publication Date
2026-06-26

AI Technical Summary

Technical Problem

Existing path planning methods fail to effectively combine the terrain structure and lithological distribution of mining areas, resulting in unstable robot path planning in complex terrains and difficulty in accurately identifying the impact of path crossing behavior on the driving state.

Method used

By reading digital elevation model data and multispectral remote sensing image data, a lithological raster distribution matrix is ​​generated, lithological boundaries are detected and curvature values ​​and normal vectors are calculated, path expansion and intersection detection are performed, lithological cross-boundary structural quantities and path evaluation quantities are constructed, and path complexity is comprehensively assessed.

Benefits of technology

It achieves stability and continuity in path planning in complex mining areas, and can select a travel path that adapts to the lithological structure, reducing the disturbance and energy consumption changes of the robot in areas with lithological changes.

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Abstract

This invention discloses a method and system for complex terrain path planning of a hybrid mineral exploration robot, relating to the field of robotics technology. The method reads digital elevation model data and multispectral remote sensing image data of the task area, and generates regular terrain raster units and a lithology classification map. A lithology raster distribution matrix is ​​generated through spatial registration. Based on the lithology raster distribution matrix, lithology boundaries are detected, a set of boundary lines is generated, and the curvature value Ki and normal vector Ni of sampling points are calculated. Path expansion is performed to generate a set of candidate paths, and the number of path crossings Nb and the boundary neighborhood movement distance Db are calculated. The coordinates of the intersection positions of path segments and lithology boundary lines are read, and the entry and exit area raster areas are determined. The lithology spectral vector difference ΔS and the cumulative boundary structure Cb are calculated. A lithology cross-boundary structure quantity Q is constructed, and path complexity is evaluated. When the path complexity evaluation indicates that the path structure is stable, a path evaluation quantity F is constructed, and a comprehensive path evaluation is performed.
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