Safety protection method, device, equipment and readable storage medium for underground mining areas

Abstract

The present invention provides a safety protection method, device, equipment and readable storage medium for underground mines. The safety protection method for underground mines includes: if it is determined that a vehicle enters a preset area, the vertical angular resolution of the laser radar is adjusted; based on the ultrasonic radar, the forward vision system and the laser radar with the vertical angular resolution adjusted, whether there is an obstacle is determined; if it is determined that there is an obstacle, the vehicle is controlled to perform emergency braking. The present invention improves the vehicle's pedestrian recognition capability based on the laser radar when the vehicle enters the preset area, reduces the probability of missing the recognition of miners, and avoids the collision of the vehicle with the underground miners when the vehicle drives to these preset areas as much as possible, thereby improving the safety of the autonomous driving vehicle in the underground mine during operation.

Description

Technical Field

[0001] The present invention relates to the field of vehicle automatic driving systems, and in particular to a safety protection method, device, equipment and readable storage medium for underground mining areas. Background Art

[0002] The underground mine is a special work area with narrow passages, many rough sections and many large-angle bends (right-angle bends, U-shaped bends, etc.), and miners often walk in the mine. When the self-driving vehicle is driving, it will not be able to identify pedestrians in time due to vehicle bumps and large bends, and the back-end personnel of the mine cannot use the remote dispatch system to perform emergency brakes in real time. At the same time, because the passages in the mine are very narrow and the space for underground miners to avoid is narrow, there is a safety hazard that the vehicles in the underground mine may collide with the miners during operation. Summary of the invention

[0003] The main purpose of the present invention is to provide a safety protection method, device, equipment and readable storage medium for underground mining areas, aiming to solve the technical problem of potential safety hazards of collision when vehicles in underground mining areas are operating in existing solutions.

[0004] In a first aspect, the present invention provides a safety protection method for an underground mine area, the safety protection method for an underground mine area comprising the following steps:

[0005] If it is determined that the vehicle has entered the preset area, the vertical angular resolution of the laser radar is adjusted;

[0006] Determine whether there are obstacles based on ultrasonic radar, forward vision system and lidar with adjusted vertical angle resolution;

[0007] If it is determined that there is an obstacle, the vehicle is controlled to perform emergency braking.

[0008] Optionally, the step of adjusting the vertical angular resolution of the laser radar includes:

[0009] Subtract the slope value at the current position of the vehicle from the slope value at the preset forward position of the vehicle to obtain the slope difference;

[0010] Obtain the installation height, preset horizontal recognition distance, and preset vertical scanning range of the laser radar;

[0011] Calculate the target scanning angle range based on the installation height, the preset horizontal recognition distance, the preset vertical scanning range and the slope value difference;

[0012] The angular resolution of the laser radar within the target scanning angle range is increased to a first preset resolution, and the angular resolution of the laser radar within other scanning angle ranges other than the target scanning angle range is reduced to a second preset resolution.

[0013] Optionally, the step of calculating the target scanning angle range based on the installation height, the preset horizontal recognition distance, the preset vertical scanning range and the slope value difference includes:

[0014] Substitute the installation height, the preset horizontal identification distance, the lower limit of the preset vertical scanning range, and the slope value difference into the first formula to obtain the lower limit of the target scanning angle range, wherein the first formula is:

[0015]

[0016] Wherein, θ1 is the lower limit of the target scanning angle range, h is the installation height of the laser radar, H1 is the lower limit of the preset vertical scanning range of the laser radar, l is the preset horizontal recognition distance of the laser radar, and i is the slope value difference;

[0017] Substitute the installation height, the preset horizontal identification distance, the upper limit of the preset vertical scanning range, and the slope value difference into the second formula to obtain the upper limit of the target scanning angle range, wherein the second formula is:

[0018]

[0019] Among them, θ2 is the upper limit of the target scanning angle range, H2 is the upper limit of the preset vertical scanning range of the laser radar, h is the installation height of the laser radar, l is the preset horizontal recognition distance of the laser radar, and i is the slope value difference.

[0020] Optionally, before the step of controlling the vehicle to perform emergency braking if it is determined that there is an obstacle, the method further includes:

[0021] Acquire multiple sound signals collected by the sound sensor;

[0022] Determining whether there is a preset signal in the multi-channel sound signals;

[0023] If a preset signal exists in the multi-channel sound signals, it is determined that an obstacle exists.

[0024] Optionally, the step of determining whether a preset signal exists in the multi-channel sound signals includes:

[0025] Based on the sound frequencies of the multiple sound signals, determining whether there is a dual-frequency signal within a preset frequency domain in the multiple sound signals;

[0026] If it is determined to exist, determining whether the sound intensity of the dual-frequency signal within a preset distance is greater than a preset intensity value;

[0027] If it is greater than, determining whether the duration of the dual-frequency signal exceeds a preset duration;

[0028] If the preset time period is exceeded, determining that the dual-frequency signal is a valid signal;

[0029] When at least a preset channel valid signal is detected in the multi-channel sound signals, it is determined that the preset signal exists in the multi-channel sound signals.

[0030] In a second aspect, the present invention further provides a safety protection device for an underground mine, the safety protection device for an underground mine comprising:

[0031] An adjustment module, used to adjust the vertical angular resolution of the laser radar if it is determined that the vehicle enters a preset area;

[0032] A determination module is used to determine whether there is an obstacle based on an ultrasonic radar, a forward vision system, and a laser radar with adjusted vertical angular resolution;

[0033] The control module is used to control the emergency braking of the vehicle if it is determined that there is an obstacle.

[0034] Optionally, the adjustment module is specifically used to:

[0035] Subtract the slope value at the current position of the vehicle from the slope value at the preset forward position of the vehicle to obtain the slope difference;

[0036] Obtain the installation height, preset horizontal recognition distance, and preset vertical scanning range of the laser radar;

[0037] Calculate the target scanning angle range based on the installation height, the preset horizontal recognition distance, the preset vertical scanning range and the slope value difference;

[0038] The angular resolution of the laser radar within the target scanning angle range is increased to a first preset resolution, and the angular resolution of the laser radar within other scanning angle ranges other than the target scanning angle range is reduced to a second preset resolution.

[0039] Optionally, the adjustment module is further specifically used for:

[0040] Substitute the installation height, the preset horizontal identification distance, the lower limit of the preset vertical scanning range, and the slope value difference into the first formula to obtain the lower limit of the target scanning angle range, wherein the first formula is:

[0041]

[0042] Wherein, θ1 is the lower limit of the target scanning angle range, h is the installation height of the laser radar, H1 is the lower limit of the preset vertical scanning range of the laser radar, l is the preset horizontal recognition distance of the laser radar, and i is the slope value difference;

[0043] Substitute the installation height, the preset horizontal identification distance, the upper limit of the preset vertical scanning range, and the slope value difference into the second formula to obtain the upper limit of the target scanning angle range, wherein the second formula is:

[0044]

[0045] Among them, θ2 is the upper limit of the target scanning angle range, H2 is the upper limit of the preset vertical scanning range of the laser radar, h is the installation height of the laser radar, l is the preset horizontal recognition distance of the laser radar, and i is the slope value difference.

[0046] Optionally, the safety protection device for the underground mine area further includes a judgment module, which is specifically used to:

[0047] Acquire multiple sound signals collected by the sound sensor;

[0048] Determining whether there is a preset signal in the multi-channel sound signals;

[0049] If a preset signal exists in the multi-channel sound signals, it is determined that an obstacle exists.

[0050] Optionally, the judging module is further specifically used for:

[0051] Based on the sound frequencies of the multiple sound signals, determining whether there is a dual-frequency signal within a preset frequency domain in the multiple sound signals;

[0052] If it is determined to exist, determining whether the sound intensity of the dual-frequency signal within a preset distance is greater than a preset intensity value;

[0053] If it is greater than, determining whether the duration of the dual-frequency signal exceeds a preset duration;

[0054] If the preset time period is exceeded, determining that the dual-frequency signal is a valid signal;

[0055] When at least a preset channel valid signal is detected in the multi-channel sound signals, it is determined that the preset signal exists in the multi-channel sound signals.

[0056] In a third aspect, the present invention also provides a safety protection device for an underground mine area, the safety protection device for the underground mine area comprising a processor, a memory, and a safety protection program for the underground mine area stored in the memory and executable by the processor, wherein when the safety protection program for the underground mine area is executed by the processor, the steps of the safety protection method for the underground mine area as described above are implemented.

[0057] In a fourth aspect, the present invention further provides a readable storage medium, on which is stored a safety protection program for an underground mine area. When the safety protection program for the underground mine area is executed by a processor, the steps of the safety protection method for the underground mine area as described above are implemented.

[0058] The present invention provides a safety protection method, device, equipment and readable storage medium for underground mines. The safety protection method for underground mines includes: if it is determined that a vehicle enters a preset area, the vertical angular resolution of the laser radar is adjusted; based on the ultrasonic radar, the forward vision system and the laser radar with the vertical angular resolution adjusted, whether there is an obstacle is determined; if it is determined that there is an obstacle, the vehicle is controlled to perform emergency braking. The present invention improves the vehicle's pedestrian recognition capability based on the laser radar when the vehicle enters the preset area, reduces the probability of missing the recognition of miners, and avoids the collision of the vehicle with the underground miners when the vehicle drives to these preset areas as much as possible, thereby improving the safety of the autonomous driving vehicle in the underground mine during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 A schematic diagram of the hardware structure of the safety protection equipment for underground mines involved in the embodiment of the present invention;

[0060] Figure 2 A schematic diagram of a process flow of an embodiment of a safety protection method for an underground mining area of ​​the present invention;

[0061] Figure 3 A schematic diagram of a flow chart of another embodiment of a safety protection method for an underground mining area according to the present invention;

[0062] Figure 4 A schematic diagram of a flow chart of another embodiment of a safety protection method for an underground mining area of ​​the present invention;

[0063] Figure 5 A schematic diagram of a flow chart of another embodiment of the safety protection method for underground mining areas of the present invention;

[0064] Figure 6 This is a schematic diagram of the functional modules of an embodiment of a safety protection device for underground mining areas of the present invention.

[0065] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0066] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0067] In a first aspect, an embodiment of the present invention provides a safety protection device for an underground mine.

[0068] Reference Figure 1 , Figure 1 The hardware structure diagram of the safety protection equipment for underground mines involved in the embodiment of the present invention is shown in FIG. In the embodiment of the present invention, the safety protection equipment for underground mines may include a processor 1001 (e.g., a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components; the user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a wireless interface (such as a wireless fidelity WIreless-FIdelity, WI-FI interface); the memory 1005 may be a high-speed random access memory (random access memory, RAM), or a stable memory (non-volatile memory), such as a disk storage. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001. Those skilled in the art will understand that Figure 1 The hardware structure shown in the figure does not constitute a limitation of the present invention, and may include more or less components than those shown in the figure, or combine certain components, or arrange the components differently.

[0069] Continue to refer to Figure 1 , Figure 1 The memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a safety protection program for an underground mine. The processor 1001 may call the safety protection program for an underground mine stored in the memory 1005 and execute the safety protection method for an underground mine provided in an embodiment of the present invention.

[0070] In a second aspect, an embodiment of the present invention provides a safety protection method for an underground mining area.

[0071] Reference Figure 2 , Figure 2 The figure is a flow chart of an embodiment of a safety protection method for underground mining areas of the present invention.

[0072] In an embodiment of the safety protection method for underground mines of the present invention, the safety protection method for underground mines includes:

[0073] Step S10, if it is determined that the vehicle enters the preset area, the vertical angular resolution of the laser radar is adjusted;

[0074] Step S20, determining whether there is an obstacle based on the ultrasonic radar, the forward vision system, and the laser radar with adjusted vertical angular resolution;

[0075] Step S30: If it is determined that there is an obstacle, the vehicle is controlled to perform emergency braking.

[0076] In this embodiment, the preset area is a large area of ​​right-angle turns or U-shaped bends in the underground mine area, and the vertical angular resolution of the laser radar corresponds to the distribution density of the longitudinal scanning beam of the laser radar in the direction perpendicular to the ground. Considering that the underground mine area is a relatively special working area, its passages are narrow and the light is insufficient. When the autonomous driving vehicle operating in the underground mine area is driving in a large area of ​​right-angle turns or U-shaped bends, due to the large bends and uneven road surface, it is difficult for the perception system (including ultrasonic radar, forward vision system and laser radar) using conventional algorithms to accurately identify the underground miners in advance, and the probability of missing the identification of miners is very high. In order to reduce the probability of missing the identification of miners, it is necessary to avoid collisions with underground miners when the vehicle drives to these preset areas as much as possible, thereby improving the safety of the autonomous driving vehicle in the underground mine area during operation.

[0077] Therefore, in the present embodiment, when the vehicle is in normal operation, the laser radar point cloud is evenly distributed in the recognizable scanned area in a conventional manner, that is, the distribution density of the longitudinal scanning beam of the laser radar is consistent in all recognizable scanned areas. When the vehicle's automatic driving control unit (ADCU) determines that the vehicle has entered the preset area through the laser radar SLAM positioning, map data and other positioning information, the laser radar point cloud distribution is adjusted according to the working characteristics of the staff in the mining area to adjust the angular resolution of the laser radar so that it focuses more on the target range that needs to be paid attention to within the recognizable scanning range. Through the above-mentioned angular resolution adjustment, the laser radar's pedestrian recognition ability in the target range is improved, and the appearance characteristics of underground mining personnel in different postures such as walking upright and bending over can be better identified.

[0078] At this time, based on the ultrasonic radar, forward vision system and laser radar with adjusted vertical angular resolution, it can be determined whether there are obstacles ahead in the preset areas such as bends, such as bending or walking mining workers. Among them, because the laser radar has been adjusted in vertical angular resolution, the overall accuracy of the perception system in identifying obstacles is also improved. If it is determined that there is an obstacle at this time, when ADCU determines that a collision or scratch will occur, it sends a deceleration signal to the electronic braking system EBS controller through the bus to control the vehicle to achieve emergency braking, thereby stopping to avoid collision or scratch. Until the danger is eliminated, when the autonomous driving vehicle receives a restart command from the back-end management personnel of the mining area to the vehicle Tbox through the scheduling system, it returns to the normal driving state, such as ADCU sends the accelerator pedal opening to the engine controller EECU for acceleration control, and then sends the steering angle command to the electronic power steering EHPS controller for steering control, so as to drive through the preset area and continue to execute the scheduling task of the scheduling platform.

[0079] Further, in one embodiment, referring to Figure 3 , the step S10 comprises:

[0080] Step S101, subtracting the slope value at the current position of the vehicle from the slope value at the preset forward position of the vehicle to obtain a slope difference;

[0081] Step S102, obtaining the installation height, preset horizontal recognition distance and preset vertical scanning range of the laser radar;

[0082] Step S103, calculating a target scanning angle range based on the installation height, a preset horizontal identification distance, a preset vertical scanning range, and a slope value difference;

[0083] Step S104, increasing the angular resolution of the laser radar within the target scanning angle range to a first preset resolution, and reducing the angular resolution of the laser radar within other scanning angle ranges other than the target scanning angle range to a second preset resolution.

[0084] In this embodiment, considering that the working characteristics of the workers in the underground mining area generally present body characteristics such as walking upright or bending over, if it is necessary to focus on and identify the mining workers with the above working characteristics, the preset vertical area can be focused on as the key scanning area. For example, a vertical area with a height of 0.3m to 1.2m can be selected as the key scanning area.

[0085] At the same time, considering the emission characteristics of the laser beam of the laser radar, the height values ​​of the vertical area range that can be scanned at different horizontal distances in front are different. The closer the horizontal distance in front is to the laser radar, the smaller the height value of the area that can be scanned vertically. Therefore, according to the preset computing power level of the vehicle and the need to ensure the safety of the mining workers, it is at least necessary to ensure that the mining workers in the preset vertical area can be identified at the preset horizontal recognition distance. For example, it is necessary to ensure that the vehicle can focus on identifying the vertical area with a height of 0.3m to 1.2m at least 3m ahead.

[0086] For laser radar, to adjust the recognition capability of a certain area, the number of beams within the angle range of the laser radar corresponding to the area can be adjusted accordingly. The number of beams is fixed. To achieve the recognition of at least the mine workers in the preset vertical area at the preset horizontal recognition distance, the angular resolution in the vertical direction can be adjusted to increase the number of beams and beam density in the preset vertical area, thereby improving the recognition capability of pedestrians in the preset vertical area. For example, the vertical angular resolution of the laser radar in a specific vertical angle range is increased from 0.2 degrees to 0.1 degrees, that is, the interval between the two laser beams in the preset vertical area is 0.1 degrees, that is, there is another beam only when there is an interval of 0.2 degrees. If there are 160 beams in total, there may be only 60 beams in the preset angle range under normal driving conditions. At this time, there is another beam when it is adjusted to 0.1 degrees, that is, there are 120 beams in the preset angle range. The beam density in the above preset angle range is significantly improved, and the pedestrian recognition capability is also improved accordingly.

[0087] On the basis of the above, taking into account the bumpy and uphill and downhill areas in the underground mining area, the vehicle's lidar has a certain slope relative to the road surface. When the vehicle is about to drive into the above area, the angle range that needs to be focused on for identification will change relative to the lidar. Therefore, it is necessary to adjust the preset angle range accordingly, and then adjust the angular resolution within this range.

[0088] Therefore, specifically, if it is determined that the vehicle enters a preset area, the step of adjusting the vertical angular resolution of the laser radar includes: subtracting the slope value of the vehicle's current position from the slope value of the vehicle's forward preset position to obtain a slope value difference. Obtain the installation height, preset horizontal recognition distance, and preset vertical scanning range of the laser radar. Based on the installation height, preset horizontal recognition distance, preset vertical scanning range, and slope value difference, calculate the target scanning angle range. Increase the angular resolution of the laser radar within the target scanning angle range to a first preset resolution, and because the number of laser beams is certain, it is necessary to reduce the angular resolution of the laser radar within other scanning angle ranges other than the target scanning angle range to a second preset resolution.

[0089] Furthermore, in one embodiment, step S103 includes:

[0090] Substitute the installation height, the preset horizontal identification distance, the lower limit of the preset vertical scanning range, and the slope value difference into the first formula to obtain the lower limit of the target scanning angle range, wherein the first formula is:

[0091]

[0092] Wherein, θ1 is the lower limit of the target scanning angle range, h is the installation height of the laser radar, H1 is the lower limit of the preset vertical scanning range of the laser radar, l is the preset horizontal recognition distance of the laser radar, and i is the slope value difference;

[0093] Substitute the installation height, the preset horizontal identification distance, the upper limit of the preset vertical scanning range, and the slope value difference into the second formula to obtain the upper limit of the target scanning angle range, wherein the second formula is:

[0094]

[0095] Among them, θ2 is the upper limit of the target scanning angle range, H2 is the upper limit of the preset vertical scanning range of the laser radar, h is the installation height of the laser radar, l is the preset horizontal recognition distance of the laser radar, and i is the slope value difference.

[0096] In this embodiment, specifically, based on the installation height, the preset horizontal identification distance, the preset vertical scanning range and the slope value difference, the step of calculating the target scanning angle range includes: substituting the installation height, the preset horizontal identification distance, the lower limit value of the preset vertical scanning range and the slope value difference into a first formula to obtain the lower limit value of the target scanning angle range, wherein the first formula is:

[0097]

[0098] Among them, θ1 is the lower limit of the target scanning angle range, h is the installation height of the laser radar, H1 is the lower limit of the preset vertical scanning range of the laser radar, l is the preset horizontal recognition distance of the laser radar, and i is the slope value difference.

[0099] Substitute the installation height, the preset horizontal identification distance, the upper limit of the preset vertical scanning range, and the slope value difference into the second formula to obtain the upper limit of the target scanning angle range, wherein the second formula is:

[0100]

[0101] Among them, θ2 is the upper limit of the target scanning angle range, H2 is the upper limit of the preset vertical scanning range of the laser radar, h is the installation height of the laser radar, l is the preset horizontal recognition distance of the laser radar, and i is the slope value difference. Based on the above calculation, the target scanning angle range can be obtained as (θ1, θ2).

[0102] Further, in one embodiment, referring to Figure 4 , before step S30, further comprising:

[0103] Step S40, acquiring multiple sound signals collected by the sound sensor;

[0104] Step S50, determining whether there is a preset signal in the multi-channel sound signals;

[0105] Step S60: If a preset signal exists in the multi-channel sound signals, it is determined that an obstacle exists.

[0106] In this embodiment, considering the ultrasonic radar, the forward vision system and the laser radar that adjusts the vertical angle resolution, when determining whether there is an obstacle, even if the overall accuracy of the perception system in identifying obstacles is improved, there will be cases where obstacles are missed. Therefore, on the basis of the above determination of whether there is an obstacle, redundant judgment of the preset sound signal is added. Even if there are missed identification of mining staff in front of the vehicle's driving route, the sound signal prompted by the mining staff can also be identified, thereby further reducing the risk of collision. That is, several sound sensors are installed on both sides of the front bumper and both sides of the rear frame of the vehicle in the underground mining area to collect the surrounding sound and obtain multi-channel sound signals, and the vehicle's automatic driving control unit (ADCU) will obtain the multi-channel sound signals collected by the sound sensor in real time, and determine whether there is an obstacle by judging whether there is a preset signal in the above multi-channel sound signal. If there is a preset signal in the above multi-channel sound signal, it can be determined that there is an obstacle.

[0107] Furthermore, in one embodiment, referring to Figure 5 , the step S50 comprises:

[0108] Step S501, based on the sound frequencies of the multiple sound signals, determining whether there is a dual-frequency signal in a preset frequency domain in the multiple sound signals;

[0109] Step S502: if it is determined to exist, determining whether the sound intensity of the dual-frequency signal within a preset distance is greater than a preset intensity value;

[0110] Step S503: if greater than, determine whether the duration of the dual-frequency signal exceeds a preset duration;

[0111] Step S504: if the preset time period is exceeded, determining that the dual-frequency signal is a valid signal;

[0112] Step S505: when at least a preset channel of valid signals is detected in the multi-channel sound signals, it is determined that a preset signal exists in the multi-channel sound signals.

[0113] In this embodiment, the preset signal is a sound signal of a collision warning for the mine staff. In this embodiment, in order to ensure that the whistle of the mine staff is timely and accurately identified and distinguished from the surrounding environmental sounds, so that the vehicle can respond as quickly as possible to prevent collisions, a dual-frequency whistle is configured for the mine staff. When it is determined that the autonomous driving vehicle in the underground mine is approaching the preset area, the mine staff can quickly blow the dual-frequency whistle for a preset time (such as 1.5s) or more to alert the vehicle.

[0114] When the vehicle's automatic driving control unit (ADCU) obtains multiple sound signals collected by the sound sensor, it can determine whether there is a preset signal in the multiple sound signals based on the sound frequency, sound intensity and duration of a preset sound signal of the multiple sound signals. Among them, if at least a valid signal of a preset channel is detected in the multiple sound signals, it can be determined that there is a preset signal in the multiple sound signals. Among them, the valid signal of each channel is a dual-frequency signal within a preset frequency domain, with a sound intensity greater than a preset intensity value within a preset distance, and a duration exceeding a preset duration. For example, a dual-frequency whistle signal with a frequency f in the range of 2500Hz to 3000Hz, 3500Hz to 4000Hz, greater than 90dB within a range of 10m, and a duration of 1.5s.

[0115] In this embodiment, a safety protection method for underground mines is provided, including: if it is determined that the vehicle enters a preset area, the vertical angular resolution of the laser radar is adjusted; based on the ultrasonic radar, the forward vision system and the laser radar with the vertical angular resolution adjusted, whether there is an obstacle is determined; if it is determined that there is an obstacle, the vehicle is controlled to emergency brake. The present invention improves the vehicle's pedestrian recognition capability based on the laser radar when the vehicle enters the preset area, reduces the probability of missing miners, and avoids collisions with underground miners when the vehicle drives to these preset areas as much as possible, thereby improving the safety of autonomous driving vehicles in underground mines during operation. And on this basis, by adding braking control to recognize preset signals prompted by mining staff in dangerous situations, the safety of autonomous driving vehicles in underground mines during operation is further improved.

[0116] In a third aspect, an embodiment of the present invention further provides a safety protection device for an underground mining area.

[0117] Reference Figure 6, a schematic diagram of the functional modules of an embodiment of a safety protection device for underground mining areas.

[0118] In this embodiment, the safety protection device of the underground mining area includes:

[0119] An adjustment module 10, for adjusting the vertical angular resolution of the laser radar if it is determined that the vehicle enters a preset area;

[0120] A determination module 20 is used to determine whether there is an obstacle based on an ultrasonic radar, a forward vision system, and a laser radar with adjusted vertical angle resolution;

[0121] The control module 30 is used to control the vehicle to perform emergency braking if it is determined that there is an obstacle.

[0122] Furthermore, in one embodiment, the adjustment module 10 is specifically used for:

[0123] Subtract the slope value at the current position of the vehicle from the slope value at the preset forward position of the vehicle to obtain the slope difference;

[0124] Obtain the installation height, preset horizontal recognition distance, and preset vertical scanning range of the laser radar;

[0125] Calculate the target scanning angle range based on the installation height, the preset horizontal recognition distance, the preset vertical scanning range and the slope value difference;

[0126] The angular resolution of the laser radar within the target scanning angle range is increased to a first preset resolution, and the angular resolution of the laser radar within other scanning angle ranges other than the target scanning angle range is reduced to a second preset resolution.

[0127] Furthermore, in one embodiment, the adjustment module 10 is further specifically used for:

[0128] Substitute the installation height, the preset horizontal identification distance, the lower limit of the preset vertical scanning range, and the slope value difference into the first formula to obtain the lower limit of the target scanning angle range, wherein the first formula is:

[0129]

[0130] Wherein, θ1 is the lower limit of the target scanning angle range, h is the installation height of the laser radar, H1 is the lower limit of the preset vertical scanning range of the laser radar, l is the preset horizontal recognition distance of the laser radar, and i is the slope value difference;

[0131] Substitute the installation height, the preset horizontal identification distance, the upper limit of the preset vertical scanning range, and the slope value difference into the second formula to obtain the upper limit of the target scanning angle range, wherein the second formula is:

[0132]

[0133] Among them, θ2 is the upper limit of the target scanning angle range, H2 is the upper limit of the preset vertical scanning range of the laser radar, h is the installation height of the laser radar, l is the preset horizontal recognition distance of the laser radar, and i is the slope value difference.

[0134] Furthermore, in one embodiment, the safety protection device for the underground mine area further includes a judgment module, which is specifically used to:

[0135] Acquire multiple sound signals collected by the sound sensor;

[0136] Determining whether there is a preset signal in the multi-channel sound signals;

[0137] If a preset signal exists in the multi-channel sound signals, it is determined that an obstacle exists.

[0138] Furthermore, in one embodiment, the judgment module is further specifically used for:

[0139] Based on the sound frequencies of the multiple sound signals, determining whether there is a dual-frequency signal within a preset frequency domain in the multiple sound signals;

[0140] If it is determined to exist, determining whether the sound intensity of the dual-frequency signal within a preset distance is greater than a preset intensity value;

[0141] If it is greater than, determining whether the duration of the dual-frequency signal exceeds a preset duration;

[0142] If the preset time period is exceeded, determining that the dual-frequency signal is a valid signal;

[0143] When at least a preset channel valid signal is detected in the multi-channel sound signals, it is determined that the preset signal exists in the multi-channel sound signals.

[0144] Among them, the functional implementation of each module in the above-mentioned safety protection device for underground mines corresponds to the various steps in the above-mentioned safety protection method embodiment for underground mines, and their functions and implementation processes will not be repeated here one by one.

[0145] In a fourth aspect, an embodiment of the present invention further provides a readable storage medium.

[0146] The readable storage medium of the present invention stores a safety protection program for an underground mine area, wherein when the safety protection program for an underground mine area is executed by a processor, the steps of the safety protection method for an underground mine area as described above are implemented.

[0147] Among them, the method implemented when the safety protection program of the underground mine area is executed can refer to the various embodiments of the safety protection method of the underground mine area of ​​the present invention, and will not be repeated here.

[0148] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0149] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0150] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present invention.

[0151] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A safety protection method for underground mining areas, characterized in that: The safety protection method for the underground mining area includes: If it is determined that the vehicle has entered the preset area, the vertical angular resolution of the laser radar is adjusted; Determine whether there are obstacles based on ultrasonic radar, forward vision system and lidar with adjusted vertical angle resolution; If it is determined that there is an obstacle, the vehicle is controlled to perform emergency braking; The step of adjusting the vertical angular resolution of the laser radar includes: Subtract the slope value at the current position of the vehicle from the slope value at the preset forward position of the vehicle to obtain the slope difference; Obtain the installation height, preset horizontal recognition distance, and preset vertical scanning range of the laser radar; Calculate the target scanning angle range based on the installation height, the preset horizontal recognition distance, the preset vertical scanning range and the slope value difference; The angular resolution of the laser radar within the target scanning angle range is increased to a first preset resolution, and the angular resolution of the laser radar within other scanning angle ranges other than the target scanning angle range is reduced to a second preset resolution.

2. The safety protection method for underground mines according to claim 1, characterized in that: The step of calculating the target scanning angle range based on the installation height, the preset horizontal recognition distance, the preset vertical scanning range and the slope value difference includes: Substitute the installation height, the preset horizontal identification distance, the lower limit of the preset vertical scanning range, and the slope value difference into the first formula to obtain the lower limit of the target scanning angle range, wherein the first formula is: in, is the lower limit of the target scanning angle range, is the installation height of the laser radar, is the lower limit of the preset vertical scanning range of the laser radar, is the preset horizontal recognition distance of the laser radar, is the slope value difference; Substitute the installation height, the preset horizontal identification distance, the upper limit of the preset vertical scanning range, and the slope value difference into the second formula to obtain the upper limit of the target scanning angle range, wherein the second formula is: in, is the upper limit of the target scanning angle range, is the upper limit of the preset vertical scanning range of the laser radar, is the installation height of the laser radar, is the preset horizontal recognition distance of the laser radar, is the slope difference.

3. The safety protection method for underground mines according to claim 1, characterized in that: Before the step of controlling the vehicle to emergency brake if it is determined that there is an obstacle, the method further includes: Acquire multiple sound signals collected by the sound sensor; Determining whether there is a preset signal in the multi-channel sound signals; If a preset signal exists in the multi-channel sound signals, it is determined that an obstacle exists.

4. The safety protection method for underground mines according to claim 3, characterized in that: The step of determining whether there is a preset signal in the multi-channel sound signals comprises: Based on the sound frequencies of the multiple sound signals, determining whether there is a dual-frequency signal within a preset frequency domain in the multiple sound signals; If it is determined to exist, determining whether the sound intensity of the dual-frequency signal within a preset distance is greater than a preset intensity value; If it is greater than, determining whether the duration of the dual-frequency signal exceeds a preset duration; If the preset time period is exceeded, determining that the dual-frequency signal is a valid signal; When at least a preset channel valid signal is detected in the multi-channel sound signals, it is determined that the preset signal exists in the multi-channel sound signals.

5. A safety protection device for underground mining areas, characterized in that: The safety protection device of the underground mine area includes: An adjustment module, used to adjust the vertical angular resolution of the laser radar if it is determined that the vehicle enters a preset area; A determination module is used to determine whether there is an obstacle based on an ultrasonic radar, a forward vision system, and a laser radar with adjusted vertical angular resolution; A control module, for controlling emergency braking of the vehicle if it is determined that an obstacle exists; The adjustment module is also specifically used for: Subtract the slope value at the current position of the vehicle from the slope value at the preset forward position of the vehicle to obtain the slope difference; Obtain the installation height, preset horizontal recognition distance, and preset vertical scanning range of the laser radar; Calculate the target scanning angle range based on the installation height, the preset horizontal recognition distance, the preset vertical scanning range and the slope value difference; The angular resolution of the laser radar within the target scanning angle range is increased to a first preset resolution, and the angular resolution of the laser radar within other scanning angle ranges other than the target scanning angle range is reduced to a second preset resolution.

6. The safety protection device for underground mines as claimed in claim 5, characterized in that: The adjustment module is further specifically used for: Substitute the installation height, the preset horizontal identification distance, the lower limit of the preset vertical scanning range, and the slope value difference into the first formula to obtain the lower limit of the target scanning angle range, wherein the first formula is: in, is the lower limit of the target scanning angle range, is the installation height of the laser radar, is the lower limit of the preset vertical scanning range of the laser radar, is the preset horizontal recognition distance of the laser radar, is the slope value difference; Substitute the installation height, the preset horizontal identification distance, the upper limit of the preset vertical scanning range, and the slope value difference into the second formula to obtain the upper limit of the target scanning angle range, wherein the second formula is: in, is the upper limit of the target scanning angle range, is the upper limit of the preset vertical scanning range of the laser radar, is the installation height of the laser radar, is the preset horizontal recognition distance of the laser radar, is the slope difference.

7. A safety protection device for underground mining areas, characterized in that: The safety protection device of the underground mine area includes a processor, a memory, and a safety protection program for the underground mine area stored in the memory and executable by the processor. When the safety protection program for the underground mine area is executed by the processor, the steps of the safety protection method for the underground mine area as described in any one of claims 1 to 4 are implemented.

8. A readable storage medium, characterized in that: The readable storage medium stores a safety protection program for an underground mine area, wherein when the safety protection program for an underground mine area is executed by a processor, the steps of the safety protection method for an underground mine area as described in any one of claims 1 to 4 are implemented.

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