A method, storage medium and system for positioning underground terrain

Abstract

The present application provides a method, storage medium and system for positioning underground terrain, wherein the method includes: obtaining a three-dimensional physical map of the underground space, wherein the three-dimensional physical map records the spatial feature information of the underground space; when a vehicle is traveling in the underground space, obtaining the spatial features of the environment in which the vehicle is located; comparing the spatial features with the spatial feature information, and determining the position of the vehicle in the underground space according to the comparison result. By adopting the above scheme in the present application, the underground terrain of the mine can be positioned with high precision, and can also be updated in real time. This positioning system has a simple structure and low cost, so that the mine can adopt intelligent automated transportation and ensure the life safety of the transportation personnel.

Description

Technical Field

[0001] The present application belongs to the technical field of coal mining, and in particular, relates to a method, storage medium and system for locating underground terrain. Background Art

[0002] At present, existing positioning devices such as GPS positioning modules can only realize the positioning function of the ground. For example, some special industries, such as various underground mining mines, are all high-risk underground work. Since the existing positioning devices cannot locate the underground terrain with high precision, they are all transported by manual driving, and intelligent and automated transportation cannot be realized. There is a high safety risk in the process of manual participation in the transportation process. Summary of the invention

[0003] The present application aims to provide a method, storage medium and system for locating underground terrain, so as to solve the technical problem in the prior art that the underground terrain of a mine cannot be located with high precision, which brings potential safety hazards to underground transportation.

[0004] To this end, some embodiments of the present application provide a method for locating underground terrain, including the following steps:

[0005] Acquire a three-dimensional substantive map of the underground space, wherein the three-dimensional substantive map records spatial characteristic information of the underground space;

[0006] When the vehicle is traveling in the underground space, obtaining spatial characteristics of the environment in which the vehicle is located;

[0007] The spatial feature is compared with the spatial feature information, and the position of the vehicle in the underground space is determined according to the comparison result.

[0008] In the underground terrain positioning method provided in some embodiments of the present application, the step of obtaining a three-dimensional substantiated map of the underground space, wherein the three-dimensional substantiated map records the spatial feature information of the underground space, comprises:

[0009] Acquire three-dimensional scanning data of the underground space, and establish a three-dimensional point cloud feature map of the underground space according to the three-dimensional scanning data;

[0010] Acquire image data of the underground space, and establish a two-dimensional data feature map of the underground space according to the image data;

[0011] A materialized map of the underground space is obtained by fusing the three-dimensional point cloud feature map and the two-dimensional data feature map.

[0012] In the underground terrain positioning method provided in some embodiments of the present application, the step of obtaining a three-dimensional materialized map of the underground space, wherein the three-dimensional materialized map records the spatial feature information of the underground space, further includes:

[0013] Acquire the detection vehicle driving data, wherein the detection vehicle driving data includes the vehicle departure position, vehicle driving time, vehicle driving direction and vehicle posture data;

[0014] The three-dimensional scanning data and the image data are both associated with the detection vehicle driving data.

[0015] In the underground terrain positioning method provided in some embodiments of the present application, when a vehicle is traveling in the underground space, the step of acquiring the spatial characteristics of the environment in which the vehicle is located includes:

[0016] Acquire actual vehicle driving data, wherein the actual vehicle driving data includes the actual vehicle starting position, the actual vehicle driving time, the actual vehicle driving direction and the actual vehicle posture data;

[0017] Determining an estimated position range of the vehicle in the underground space according to the actual driving data of the vehicle;

[0018] Extracting environmental spatial feature information within the estimated position range from the spatial feature information recorded in the three-dimensional materialized map;

[0019] The position of the vehicle in the underground space is determined according to a comparison result between the spatial feature and the environmental spatial feature information.

[0020] In some embodiments of the present application, a storage medium is provided, in which program information is stored. After a computer reads the program information, the method for locating underground terrain described in any one of the above items is executed.

[0021] In some embodiments of the present application, a system for locating underground terrain is provided, comprising at least one processor and at least one memory, wherein at least one of the memories stores program information, and after reading the program information, at least one of the processors executes any of the above-described methods for locating underground terrain.

[0022] The underground terrain positioning system provided in some embodiments of the present application further includes a square array laser radar:

[0023] The square array laser radar is arranged on the detection vehicle; when the detection vehicle travels in the underground space, the square array laser radar scans the underground space to obtain three-dimensional scanning data and sends the three-dimensional scanning data to the processor.

[0024] The underground terrain positioning system provided in some embodiments of the present application further includes a low-light camera:

[0025] The low-light camera is arranged on the detection vehicle; when the detection vehicle travels in the underground space, the low-light camera captures image data of the underground space and sends the image data to the processor.

[0026] The underground terrain positioning system provided in some embodiments of the present application also includes a laser radar and a millimeter wave radar:

[0027] The laser radar and the millimeter wave radar are arranged on the vehicle;

[0028] The laser radar scans the underground space to obtain spatial scanning data when the vehicle travels in the underground space, and the millimeter wave radar captures spatial image data of the underground space when the vehicle travels in the underground space;

[0029] The processor receives the spatial scanning data sent by the laser radar and the spatial image data sent by the millimeter wave radar, and obtains the spatial characteristics of the environment where the vehicle is located according to the spatial scanning data and the spatial image data.

[0030] The underground terrain positioning system provided in some embodiments of the present application further includes a vehicle-mounted sensor group, and the vehicle-mounted sensor group includes:

[0031] a speed sensor, configured to detect a vehicle speed and send the speed to the processor;

[0032] A steering wheel angle sensor, used to detect a steering wheel angle as a driving direction of the vehicle, and send the steering wheel angle to the processor;

[0033] A gyroscope is used to detect vehicle posture data and send the vehicle posture data to the processor.

[0034] Compared with the prior art, the above technical solution provided by the present application has at least the following beneficial effects: a three-dimensional materialized map of the underground space is obtained in advance, and spatial feature information is recorded in the materialized map. When the vehicle is traveling in the underground space, the environmental spatial features of the vehicle are obtained, and the location of the vehicle can be determined by comparing the environmental features with the spatial feature information in the materialized map. By adopting the above solution in the present application, the underground terrain of the mine can be positioned with high precision without the use of positioning devices such as GPS, and can also be updated in real time. This positioning system has a simple structure and low cost, so that the mine can adopt intelligent automated transportation and ensure the life safety of the transportation personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application.

[0036] Figure 1 This is a flow chart of a method for locating underground terrain according to an embodiment of the present application;

[0037] Figure 2 A flow chart of a method for obtaining a three-dimensional physical map of an underground space according to an embodiment of the present application;

[0038] Figure 3 A structural block diagram of underground terrain positioning according to an embodiment of the present application;

[0039] Figure 4 This is a structural block diagram of the positioning of underground terrain described in another embodiment of the present application. DETAILED DESCRIPTION

[0040] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the simplified description of the present application, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0041] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0042] This embodiment provides a method for locating underground terrain, which can be applied to a processor with data processing function, such as a vehicle-mounted controller, etc. Figure 1 As shown, the method may include the following steps:

[0043] S101: Acquire a three-dimensional physical map of the underground space, wherein the three-dimensional physical map records the spatial characteristic information of the underground space. The three-dimensional physical map can be obtained after detecting the actual environment underground during the mining process. The spatial characteristic information may include some characteristic information that has a fixed position underground and is not easy to change over time, such as some special marking information on the coal wall, wall information at the corner, etc.

[0044] S102: When the vehicle is traveling in the underground space, the spatial characteristics of the environment in which the vehicle is located are obtained. Various sensors capable of collecting three-dimensional information and two-dimensional information are installed on the vehicle, and environmental characteristic information is collected in real time during the operation of the vehicle, and matching is performed based on the actual environmental characteristic information and the existing environmental characteristic information in step S101.

[0045] S103: Compare the spatial feature with the spatial feature information, and determine the position of the vehicle in the underground space according to the comparison result. If the feature information in the actual environment of the vehicle can match the existing spatial feature information, the position of the vehicle in the underground space can be determined.

[0046] In the above scheme, a three-dimensional physical map of the underground space is obtained in advance, and spatial feature information is recorded in the physical map. When the vehicle is traveling in the underground space, the environmental spatial features of the vehicle are obtained, and the location of the vehicle can be determined by comparing the environmental features with the spatial feature information in the physical map. By adopting the above scheme in this application, the underground terrain of the mine can be positioned with high precision without the use of positioning devices such as GPS, and can also be updated in real time. This positioning system has a simple structure and low cost, so that the mine can adopt intelligent automated transportation and ensure the life safety of the transportation personnel.

[0047] like Figure 2 As shown, in some embodiments, step S101 can be specifically implemented by the following steps:

[0048] S201: Acquire three-dimensional scanning data of the underground space, and establish a three-dimensional point cloud feature map of the underground space according to the three-dimensional scanning data. For example, the geometric features of the underground terrain are scanned by a vehicle-mounted square array laser radar, and the scanned features are sent to a vehicle-mounted processor for processing, and the vehicle-mounted processor performs modeling according to the geometric features, thereby establishing a three-dimensional point cloud feature map.

[0049] S202: Acquire image data of the underground space, and establish a two-dimensional data feature map of the underground space based on the image data; for example, capture video of the underground terrain through a vehicle-mounted low-light camera, and send the video to a vehicle-mounted processor.

[0050] S203: Obtaining a materialized map of the underground space by fusing the three-dimensional point cloud feature map and the two-dimensional data feature map. The on-board processor materializes the three-dimensional point cloud feature map after performing dot matrix fusion processing based on the video and the three-dimensional point cloud feature map collected in steps S201 and S202.

[0051] Through this step, the actual environment of the underground space can be mapped at any time to ensure real-time updating of the map.

[0052] Furthermore, step S101 in the above scheme may also include: obtaining detection vehicle driving data, the detection vehicle driving data including vehicle starting position, vehicle driving time, vehicle driving direction and vehicle posture data; the three-dimensional scanning data and the image data are both associated with the detection vehicle driving data.

[0053] Assuming that a starting point is set in the underground space, when obtaining the terrain features of the underground space, it is achieved by setting a detection device such as a laser radar on the detection vehicle. The time when the detection vehicle is at the starting point is taken as the zero time. As the detection vehicle travels in the underground space, the distance between the detection vehicle and the starting point can be determined based on the driving direction, driving speed, and posture of the detection vehicle. In this solution, the driving data of the detection vehicle is associated with the information of the physical map, and the two types of data can be verified with each other during the vehicle positioning process. For example, when there are similar environmental features in the underground space, the accurate position of the vehicle can be further determined based on the vehicle driving data.

[0054] Therefore, step S102 may include: obtaining the actual driving data of the vehicle, the actual driving data of the vehicle including the actual starting position of the vehicle, the actual driving time of the vehicle, the actual driving direction of the vehicle and the actual posture data of the vehicle; determining the estimated position range of the vehicle in the underground space according to the actual driving data of the vehicle; extracting the environmental spatial feature information within the estimated position range from the spatial feature information recorded in the three-dimensional materialized map; determining the position of the vehicle in the underground space according to the comparison result between the spatial feature and the environmental spatial feature information. It is understandable that the data used in determining the materialized map of the underground space is consistent.

[0055] In some embodiments of the present application, a storage medium is further provided, wherein program information is stored in the storage medium, and a computer reads the program information and executes any of the above-mentioned methods for locating underground terrain.

[0056] Some embodiments of the present application also provide a positioning system for underground terrain, such as Figure 3 As shown, it includes at least one processor 101; and a memory 102 that is communicatively connected to at least one of the processors 101; wherein the memory 102 stores instructions that can be executed by at least one of the processors 101, and the instructions are executed by at least one of the processors 101 to enable at least one of the processors 101 to execute the underground terrain positioning method as described above. Figure 3 A processor 101 is taken as an example. The above system may include: an input device 103 and an output device 104. The processor 101, the memory 102, the input device 103 and the output device 104 may be connected via a bus or other means, and the connection via a bus is taken as an example.

[0057] The memory 102 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the underground terrain positioning method in the embodiment of the present application, for example, Figure 1 The processor 101 executes various functional applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 102, that is, the underground terrain positioning method in the above embodiment is implemented.

[0058] The memory 102 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the underground terrain positioning method, etc. In addition, the memory 102 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 102 may optionally include a memory remotely arranged relative to the processor 101, and these remote memories may be connected to the device for executing the underground terrain positioning method via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0059] The input device 103 can receive user clicks and generate signal inputs related to user settings and function control of underground terrain positioning methods. The output device 104 can include display devices such as display screens.

[0060] The one or more modules are stored in the memory 102, and when executed by the one or more processors 101, the underground terrain positioning method in any of the above method embodiments is executed.

[0061] In some embodiments, Figure 4 As shown, the above system may also include a square laser radar 201, which is arranged on the detection vehicle; when the detection vehicle travels in the underground space, the square laser radar 201 scans the underground space to obtain three-dimensional scanning data and sends the three-dimensional scanning data to the processor 101. In this solution, the geometric features of the underground terrain are scanned by the square laser radar 201 and sent to the processor 101 for processing. The processor 101 performs modeling according to the geometric features and establishes a three-dimensional point cloud feature map.

[0062] Preferably, the above system may further include a low-light camera 202, which is disposed on the detection vehicle; the low-light camera 202 captures image data of the underground space when the detection vehicle travels in the underground space and sends the image data to the processor 101. The video of the underground terrain is collected by the low-light camera 202 and sent to the processor 101. The processor 101 realizes the entity of the three-dimensional point cloud feature map after performing dot matrix fusion processing based on the collected video and the three-dimensional point cloud feature map.

[0063] Preferably, the above system can also include a laser radar 301 and a millimeter wave radar 302, wherein the laser radar 301 and the millimeter wave radar 302 are arranged on the vehicle; the laser radar 301 scans the underground space when the vehicle travels in the underground space to obtain spatial scanning data, and the millimeter wave radar 302 takes spatial image data of the underground space when the vehicle travels in the underground space; the processor 101 receives the spatial scanning data sent by the laser radar 301 and the spatial image data sent by the millimeter wave radar 302, and obtains the spatial characteristics of the environment where the vehicle is located according to the spatial scanning data and the spatial image data. The laser radar 301 is used to identify the front features, and the features are sent to the processor 101 for processing. The processor 101 compares the features with the three-dimensional point cloud feature map after the entity, and then identifies the front features. The millimeter wave radar 302 is used to scan the underground terrain and detect the real scene, and the features are sent to the processor 101 for processing. The processor 101 compares the features with the three-dimensional point cloud feature map after the entity, and then realizes high-precision positioning, and the positioning accuracy can reach 10MM level.

[0064] Furthermore, the above system may also include an on-board sensor group, which includes: a speed sensor for detecting the vehicle's driving speed and sending the driving speed to the processor; a steering wheel angle sensor for detecting the steering wheel angle as the vehicle's driving direction and sending the steering wheel angle to the processor; a gyroscope for detecting vehicle posture data and sending the vehicle posture data to the processor. In this solution, the driving data of the detected vehicle is associated with the information of the physical map, and the two types of data can be used to verify each other during the vehicle positioning process. For example, when there are similar environmental features in the underground space, the exact location of the vehicle can be further determined based on the vehicle driving data.

[0065] The laser radar, low-light camera, array laser radar and millimeter-wave radar in the above scheme are all explosion-proof equipment to ensure the safety of the entire system.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for locating underground terrain, characterized in that: The following steps are involved: Acquire a three-dimensional substantive map of the underground space, wherein the three-dimensional substantive map records spatial characteristic information of the underground space; When the vehicle is traveling in the underground space, obtaining spatial characteristics of the environment in which the vehicle is located; Comparing the spatial feature with the spatial feature information, and determining the position of the vehicle in the underground space according to the comparison result; The steps of obtaining a three-dimensional substantiated map of the underground space, wherein the three-dimensional substantiated map records the spatial characteristic information of the underground space, include: Acquire three-dimensional scanning data of the underground space, and establish a three-dimensional point cloud feature map of the underground space according to the three-dimensional scanning data; Acquire image data of the underground space, and establish a two-dimensional data feature map of the underground space according to the image data; Obtaining a materialized map of the underground space by fusing the three-dimensional point cloud feature map and the two-dimensional data feature map; Acquire the detection vehicle driving data, wherein the detection vehicle driving data includes the vehicle departure position, vehicle driving time, vehicle driving direction and vehicle posture data; The three-dimensional scanning data and the image data are both associated with the detection vehicle driving data; When the vehicle is traveling in the underground space, the step of obtaining the spatial characteristics of the environment in which the vehicle is located includes: Acquire actual vehicle driving data, wherein the actual vehicle driving data includes the actual vehicle starting position, the actual vehicle driving time, the actual vehicle driving direction and the actual vehicle posture data; Determining an estimated position range of the vehicle in the underground space according to the actual driving data of the vehicle; Extracting environmental spatial feature information within the estimated position range from the spatial feature information recorded in the three-dimensional materialized map; The position of the vehicle in the underground space is determined according to a comparison result between the spatial feature and the environmental spatial feature information.

2. A storage medium, characterized in that: The storage medium stores program information, and the computer executes the underground terrain positioning method described in claim 1 after reading the program information.

3. A positioning system for underground terrain, characterized in that: It includes at least one processor and at least one memory, at least one of the memories stores program information, and at least one of the processors reads the program information and executes the underground terrain positioning method according to claim 1.

4. The underground terrain positioning system according to claim 3, characterized in that: Also includes Phalanx LiDAR: The square array laser radar is arranged on the detection vehicle; when the detection vehicle travels in the underground space, the square array laser radar scans the underground space to obtain three-dimensional scanning data and sends the three-dimensional scanning data to the processor.

5. The underground terrain positioning system according to claim 3 or 4, characterized in that: Also includes low light camera: The low-light camera is arranged on the detection vehicle; when the detection vehicle travels in the underground space, the low-light camera captures image data of the underground space and sends the image data to the processor.

6. The underground terrain positioning system according to claim 5, characterized in that: Also includes LiDAR and millimeter wave radar: The laser radar and the millimeter wave radar are arranged on the vehicle; The laser radar scans the underground space to obtain spatial scanning data when the vehicle travels in the underground space, and the millimeter wave radar captures spatial image data of the underground space when the vehicle travels in the underground space; The processor receives the spatial scanning data sent by the laser radar and the spatial image data sent by the millimeter wave radar, and obtains the spatial characteristics of the environment where the vehicle is located according to the spatial scanning data and the spatial image data.

7. The underground terrain positioning system according to claim 6, characterized in that: Also included is a vehicle-mounted sensor group, the vehicle-mounted sensor group comprising: a speed sensor, configured to detect a vehicle speed and send the speed to the processor; A steering wheel angle sensor, used to detect a steering wheel angle as a driving direction of the vehicle, and send the steering wheel angle to the processor; A gyroscope is used to detect vehicle posture data and send the vehicle posture data to the processor.

Images