A mine car auxiliary driving control method and device, a mine car and a storage medium

Abstract

This application relates to a method, device, mine car, and storage medium for auxiliary driving control of a mining truck, relating to the field of vehicle driving. The method includes acquiring the air pressure value in the mine car's air tank, the current tilt angle of the mine car relative to the horizontal plane, and the image information of the mine car's front. Based on the tilt angle value, it determines whether the mine car is in a downhill state. If the mine car is in a downhill state and the air pressure value is less than a preset air pressure threshold, then the driving route of the mine car is determined. The driving route is a route with a flatness less than a preset flatness threshold, determined based on the image information of the front, and the mine car is controlled to drive according to the driving route. This application can reduce the possibility of a collision between a mine car and a vehicle in front when the pressure in the mine car's air tank is insufficient while going downhill.

Description

Technical Field

[0001] This application relates to the field of vehicle operation, and in particular to a method, device, mine car and storage medium for auxiliary driving control of a mining car. Background Technology

[0002] With the development of the mining industry and mining equipment, driverless mining trucks have emerged and are gradually being used in mining operations. Compared with traditional manned mining trucks, driverless mining trucks improve operational efficiency and reduce labor costs.

[0003] Currently, driverless mining trucks mainly rely on pneumatic braking devices for braking. The air tank in the mining truck stores gas to provide the air pressure required for braking. When the air pressure in the air tank is too low, the braking ability of the mining truck is poor, and it takes a long time to replenish the compressed air in the air tank. During the process of replenishing compressed air, the possibility of the mining truck colliding with the vehicle in front when going downhill increases. Summary of the Invention

[0004] To reduce the possibility of a mine car colliding with a vehicle in front when it is going downhill and the pressure in the mine car's air tank is insufficient, this application provides a mine car auxiliary driving control method, device, mine car, and storage medium.

[0005] Firstly, this application provides a method for auxiliary driving control of a mining car, which adopts the following technical solution:

[0006] A method for auxiliary driving control of a mining car, comprising:

[0007] Acquire the air pressure value in the mine car's air tank, the current tilt angle of the mine car relative to the horizontal plane, and the frontal image information of the mine car;

[0008] Based on the tilt angle value, determine whether the mine car is in a downhill state;

[0009] If the mine car is going downhill and the air pressure value is less than a preset air pressure threshold, then the driving route of the mine car is determined. The driving route is a route with a flatness less than a preset flatness threshold, determined based on the image information ahead.

[0010] Control the mining car to travel along the specified route.

[0011] By employing the above technical solution, the air pressure value inside the mine car's air tank is obtained, which helps determine whether the braking force of the mine car's braking device is sufficient. Obtaining the tilt angle value helps determine whether the mine car is going downhill, and thus whether braking is necessary. Obtaining the image information ahead helps determine the road conditions ahead. When it is determined that the mine car is going downhill, braking is required. If the air pressure value is lower than a preset air pressure threshold, it indicates that the pneumatic braking force is insufficient. At this point, the next travel route of the mine car is determined based on the image information ahead. After determining the travel route, the mine car is controlled to travel along the route. Since the travel route is a less smooth section of the road ahead, the rougher surface increases the friction between the mine car's tires and the road surface, thereby shortening the braking distance when braking force is insufficient and reducing the possibility of a collision with the vehicle in front.

[0012] In another possible implementation, the determination of the mining truck's route includes:

[0013] The foreground image information is transformed to obtain a first grayscale image;

[0014] The first grayscale image is binarized to obtain the first binarized image;

[0015] The first binarized image is divided into multiple sub-regions to obtain the first binarized sub-images corresponding to the multiple sub-regions respectively;

[0016] The closed contours and the number of closed contours in each sub-region are determined based on the first binarized sub-image corresponding to each sub-region.

[0017] The smoothness of the road within each sub-region is determined based on the number of closed contours in each sub-region;

[0018] The driving route is determined based on sub-regions where the flatness is less than a preset flatness threshold.

[0019] By adopting the above technical solution, a first grayscale image is obtained by transforming the image information in front to grayscale, simplifying the information in the image and facilitating subsequent image processing. Furthermore, grayscale mapping is established to adjust the grayscale of the image information in front, thereby achieving image enhancement. After obtaining the first grayscale image, it is binarized to further simplify the information, resulting in a first binarized image. Since the first binarized image contains only two grayscale values, it is easy to determine the bumps and depressions on the road. The first binarized image is divided into multiple sub-regions, and the number of closed contours in each sub-region is determined. These closed contours represent bumps or depressions on the road, and the number of closed contours facilitates the determination of the road smoothness in each sub-region. After determining the smoothness of each sub-region, a driving route is determined based on the sub-regions with smoothness less than a preset smoothness threshold. The mine truck travels along the driving route, thus enabling it to continuously travel on a relatively rough road. The increased friction between the mine truck tires and the road shortens the braking distance when braking is required.

[0020] In another possible implementation, determining the road smoothness within each sub-region based on the number of closed contours in each sub-region includes:

[0021] The score for each sub-region is determined based on the number of closed contours in each sub-region and a preset coefficient, and the score represents the flatness.

[0022] By adopting the above technical solution, the more closed contours there are, the rougher the road surface and the lower the smoothness in the sub-region. Therefore, the number of closed contours is inversely proportional to the smoothness. The score of each sub-region can be determined based on the preset coefficient and the number of closed contours in each sub-region. The smoothness can be more accurately represented by the score.

[0023] In another possible implementation, if the air pressure value is less than a preset air pressure threshold, the process further includes:

[0024] Control the operation of the air compression device to input compressed air into the air storage tank of the mine car;

[0025] When the air pressure value in the air tank of the mining truck reaches the preset air pressure threshold, the current frontal image information is obtained;

[0026] A new driving route is replanned based on the current forward image information. The new driving route is a route whose smoothness reaches a preset smoothness threshold, as determined by the current forward image information.

[0027] By adopting the above technical solution, if the air pressure value is lower than the preset air pressure threshold, compressed air needs to be added to the mine car's air tank to bring the air pressure in the tank up to the preset air pressure threshold. When the preset air pressure threshold is reached, it indicates that the current braking force is sufficient, and there is no need to drive on a road surface with low smoothness. At this time, a new driving route is determined based on the current forward image information. The new driving route is a route with a smoothness that meets the preset smoothness threshold. The mine car changes from driving on the original rough road surface to driving on the new driving route, reducing tire wear and increasing tire life.

[0028] In another possible implementation, the replanning of the new driving route based on the current forward image information includes:

[0029] The foreground image information is transformed to obtain a second grayscale image;

[0030] The second grayscale image is binarized to obtain a second binarized image;

[0031] The second binarized image is divided into multiple sub-regions to obtain the second binarized sub-images corresponding to each sub-region;

[0032] The closed contours and the number of closed contours in each sub-region are determined based on the second binarized sub-image corresponding to each sub-region.

[0033] The smoothness of the road within each sub-region is determined based on the number of closed contours in each sub-region;

[0034] The new driving route is determined based on the sub-regions whose flatness reaches a preset flatness threshold.

[0035] By employing the above technical solution, a second grayscale image is obtained by transforming the current foreground image information into grayscale, simplifying the information in the current foreground image and facilitating subsequent image processing. Furthermore, by establishing a grayscale mapping, the grayscale of the current foreground image information is adjusted, thereby achieving image enhancement. After obtaining the second grayscale image, it is binarized to further simplify the information, resulting in a second binarized image. Since the second binarized image contains only two grayscale values, it is easy to determine the bumps and depressions on the road. The second binarized image is divided into multiple sub-regions, and the number of closed contours within each sub-region is determined. These closed contours represent bumps or depressions on the road, and the number of closed contours facilitates the determination of the road smoothness in each sub-region. After determining the smoothness of each sub-region, a new driving route is determined based on the sub-regions whose smoothness reaches a preset smoothness threshold. The mining truck travels along the new route, thus transitioning from a rougher road to a smoother one, reducing tire-road friction and minimizing tire wear.

[0036] In another possible implementation, the method further includes:

[0037] Determine whether there are other mining cars within a preset range ahead of the mining car;

[0038] If it exists, the travel route is sent to the other mining vehicles.

[0039] By adopting the above technical solution, due to insufficient braking force of the mining car, brake failure may occur during the journey, leading to excessive speed and increasing the possibility of collision with other mining cars ahead. The system determines whether other mining cars are within a preset range ahead. If other mining cars are present, their travel routes are sent to them. Upon receiving the travel routes, other mining cars can adjust their routes accordingly, reducing the likelihood of collision.

[0040] In another possible implementation, the air compressor is controlled to operate to input compressed air into the mine car's air tank, followed by:

[0041] Obtain the start time of the air compressor's operation and record the operating duration based on the start time;

[0042] If the working time reaches the preset working time and the air pressure in the mine car's air tank does not reach the preset air pressure, a prompt message will be output.

[0043] By adopting the above technical solution, if the working time of the air compressor reaches the preset working time and the air pressure value in the mine car's air tank does not reach the preset air pressure value, it indicates that there is an air leak or the air compressor is damaged. At this time, a prompt message is output so that the staff can be informed in time that there is an air leak or the air compressor is damaged.

[0044] Secondly, this application provides a mine car auxiliary driving control device, which adopts the following technical solution:

[0045] A mining car auxiliary driving control device, comprising:

[0046] The acquisition module is used to acquire the air pressure value in the mine car's air tank, the current tilt angle of the mine car relative to the horizontal plane, and the frontal image information of the mine car;

[0047] The status determination module is used to determine whether the mine car is in a downhill state based on the tilt angle value.

[0048] The first route determination module is used to determine the driving route of the mine car when the mine car is in a downhill state and the air pressure value is less than a preset air pressure threshold. The driving route is a route with a flatness less than a preset flatness threshold determined based on the image information in front.

[0049] The first control module is used to control the mine car to travel along the driving route.

[0050] By employing the above technical solution, the acquisition module obtains the air pressure value in the mine car's air tank, which helps determine whether the braking force of the mine car's braking device is sufficient. The acquisition module obtains the tilt angle value, which helps the state judgment module determine whether the mine car is on a downhill slope, and thus whether braking is necessary. The acquisition module obtains forward image information to understand the road conditions ahead. When it is determined that the mine car is on a downhill slope, braking is required, and if the air pressure value is less than a preset air pressure threshold, it indicates that the pneumatic braking device's braking force is insufficient. At this time, the first route determination module determines the mine car's next travel route based on the forward image information. After determining the travel route, the first control module controls the mine car to travel along the travel route. Since the travel route is a less smooth section of the road ahead, the rougher surface increases the friction between the mine car's tires and the road surface, thereby shortening the braking distance when braking force is insufficient and reducing the possibility of a collision with the vehicle in front.

[0051] In another possible implementation, the first route determination module, when determining the driving route of the mining truck, is specifically used for:

[0052] The foreground image information is transformed to obtain a first grayscale image;

[0053] The first grayscale image is binarized to obtain the first binarized image;

[0054] The first binarized image is divided into multiple sub-regions to obtain the first binarized sub-images corresponding to the multiple sub-regions respectively;

[0055] The closed contours and the number of closed contours in each sub-region are determined based on the first binarized sub-image corresponding to each sub-region.

[0056] The smoothness of the road within each sub-region is determined based on the number of closed contours in each sub-region;

[0057] The driving route is determined based on sub-regions where the flatness is less than a preset flatness threshold.

[0058] In another possible implementation, the first route determination block, when determining the road smoothness within each sub-region based on the number of closed contours in each sub-region, is specifically used for:

[0059] The score for each sub-region is determined based on the number of closed contours in each sub-region and a preset coefficient, and the score represents the flatness.

[0060] In another possible implementation, the device further includes:

[0061] The second control module is used to control the operation of the air compressor to input compressed air into the air storage tank of the mine car;

[0062] The image acquisition module is used to acquire the current frontal image information when the air pressure value in the mine car's air tank is detected to reach a preset air pressure threshold.

[0063] The second route determination module is used to replan a new driving route based on the current forward image information. The new driving route is a route whose smoothness reaches a preset smoothness threshold, determined based on the current forward image information.

[0064] In another possible implementation, when the second route determination module replans a new driving route based on the current forward image information, it is specifically used for:

[0065] The foreground image information is transformed to obtain a second grayscale image;

[0066] The second grayscale image is binarized to obtain a second binarized image;

[0067] The second binarized image is divided into multiple sub-regions to obtain the second binarized sub-images corresponding to each sub-region;

[0068] The closed contours and the number of closed contours in each sub-region are determined based on the second binarized sub-image corresponding to each sub-region.

[0069] The smoothness of the road within each sub-region is determined based on the number of closed contours in each sub-region;

[0070] The new driving route is determined based on the sub-regions whose flatness reaches a preset flatness threshold.

[0071] In another possible implementation, the device further includes:

[0072] The vehicle detection module is used to determine whether there are other mining trucks in front of the mining truck within a preset range;

[0073] The sending module is used to send the travel route to the other mining vehicles when it exists.

[0074] In another possible implementation, the device further includes:

[0075] The time acquisition module is used to acquire the start time of the air compressor's operation and record the working duration based on the start time;

[0076] The output module is used to output a prompt message when the working time reaches the preset working time and the air pressure value in the mine car's air tank does not reach the preset air pressure value.

[0077] Thirdly, this application provides a mining car, which adopts the following technical solution:

[0078] A mining car comprising:

[0079] One or more processors;

[0080] Memory;

[0081] One or more applications, wherein the applications are stored in memory and configured to be executed by one or more processors, the applications being configured to: execute a mining truck assisted driving control method as shown in any possible implementation of the first aspect.

[0082] Fourthly, this application provides a computer-readable storage medium, which adopts the following technical solution:

[0083] A computer-readable storage medium, when the computer program is executed in a computer, causes the computer to perform a mining truck auxiliary driving control method as described in any of the first aspects.

[0084] In summary, this application includes at least one of the following beneficial technical effects:

[0085] 1. Obtain the air pressure value in the mine car's air tank. This value helps determine if the braking force of the mine car's braking system is sufficient. Obtain the tilt angle value to determine if the mine car is going downhill, and thus whether braking is necessary. Obtain the image information ahead to understand the road conditions. When it is determined that the mine car is going downhill, braking is required. If the air pressure value is lower than the preset air pressure threshold, it indicates that the pneumatic braking force is insufficient. At this time, the next travel route of the mine car is determined based on the image information ahead. After determining the travel route, the mine car is controlled to travel along the travel route. Since the travel route is a less smooth section of the road ahead, the rougher surface increases the friction between the mine car tires and the road surface, thereby shortening the braking distance when the braking force is insufficient and reducing the possibility of collision with the vehicle in front.

[0086] 2. Due to insufficient braking force, the mine car may experience brake failure while traveling along the designated route, leading to excessive speed and increasing the likelihood of a collision with another mine car ahead. The system determines whether other mine cars are within a preset range ahead. If so, the mine car's travel route is sent to them. Upon receiving the route, other mine cars can adjust their travel accordingly, reducing the possibility of a collision. Attached Figure Description

[0087] Figure 1 This is a flowchart illustrating a mining truck auxiliary driving control method according to an embodiment of this application.

[0088] Figure 2 This is a schematic diagram of the structure of a mining truck auxiliary driving control device according to an embodiment of this application.

[0089] Figure 3 This is a schematic diagram of the structure of a mining car according to an embodiment of this application. Detailed Implementation

[0090] The present application will be further described in detail below with reference to the accompanying drawings.

[0091] After reading this specification, those skilled in the art may make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they fall within the scope of the claims of this application.

[0092] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0093] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0094] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0095] This application provides an embodiment of a mine car auxiliary driving control method, executed by the mine car, such as... Figure 1 As shown, the method includes steps S101, S102, S103, and S104, wherein,

[0096] S101, acquire the air pressure value in the mine car's air tank, the current tilt angle of the mine car to the horizontal plane, and the front image information of the mine car.

[0097] In this embodiment, the air pressure in the mine car's air tank represents the braking force of the pneumatic braking device on the mine car; a higher air pressure indicates more sufficient braking force. The air pressure can be obtained by installing a pressure sensor inside the mine car's air tank, which collects the pressure value within the tank. When the mine car is going downhill, it relies heavily on the pneumatic braking device. To determine if the mine car is going downhill, devices such as angle sensors and levels can be installed on the mine car to detect its tilt angle relative to the horizontal plane. Obtaining the tilt angle value allows for understanding the mine car's driving status. To monitor the situation ahead of the mine car, a camera device can be installed at the front of the mine car. The camera device collects image information from ahead, thus providing information about the road conditions.

[0098] S102, determines whether the mine car is going downhill based on the tilt angle value.

[0099] In this embodiment of the application, it is assumed that there is a preset tilt angle range, such as [-5°, 5°], and a preset time, such as 2 seconds. It can be defined that if the tilt angle value obtained within 2 seconds is outside the preset range and all obtained tilt angle values ​​are positive, the mine car is in a downhill state. If the tilt angle value obtained within 2 seconds is outside the preset range and all obtained tilt angle values ​​are negative, the mine car is in an uphill state. If the tilt angle value obtained within 2 seconds is within the preset range, the mine car is in a horizontal driving state. Because the mine car experiences bumps during horizontal driving, the obtained tilt angle value will fluctuate and will not be 0°. Therefore, a preset range is defined to minimize the impact of the mine car's bumps on the determination of its state.

[0100] S103 If the mine car is going downhill and the air pressure is less than the preset air pressure threshold, then the driving route of the mine car is determined.

[0101] The driving route is a route with a flatness less than a preset flatness threshold, determined based on the image information ahead.

[0102] In this embodiment, if the mine car is going downhill, a pneumatic braking device is required to prevent the car from going too fast. Assuming a preset air pressure threshold of 0.6 MPa, and the obtained air pressure value is 0.3 MPa, which is lower than the preset threshold, the compressed air in the mine car's air tank cannot provide sufficient braking force. Therefore, based on the image information ahead, a driving route with a surface roughness lower than the preset surface roughness threshold is determined, i.e., a relatively rough driving route. Driving on a rougher surface increases the friction between the tires and the road surface, reducing the braking distance and compensating for the insufficient braking force. A good braking effect can be achieved with relatively small braking force, reducing the possibility of a collision with the vehicle in front.

[0103] S104 controls the mine car to travel along the designated route.

[0104] In this embodiment of the application, after the driving route is determined, the automatic driving system on the mining truck controls the truck to travel along the route. During the journey, the driving route can also be corrected based on real-time image information from ahead.

[0105] One possible implementation of this application embodiment, step S103, based on determining the driving route of the mining truck, specifically includes steps S1031 (not shown in the figure), S1032 (not shown in the figure), S1033 (not shown in the figure), S1034 (not shown in the figure), S1035 (not shown in the figure), and S1036 (not shown in the figure), wherein,

[0106] S1031, perform grayscale transformation on the image information in front to obtain the first grayscale image.

[0107] In this embodiment of the application, after obtaining the foreground image information, each pixel in the foreground image information is extracted, and then the Red, Green, and Blue color components of the pixel are taken. The grayscale value is calculated using a weighted calculation formula, which is as follows:

[0108] Gray = R × 0.3 + G × 0.59 + B × 0.11

[0109] Where Gray represents grayscale, and the weighting coefficients of 0.3, 0.59, and 0.11 in the weighted calculation formula are parameters adjusted based on the human brightness perception system.

[0110] S1032, the first grayscale image is binarized to obtain the first binarized image.

[0111] In this embodiment, the first grayscale image is binarized to further simplify the information in the first grayscale image and facilitate subsequent determination of road smoothness. For example, a histogram method (bimodal method) can be used to find the binarization threshold in the first grayscale image. The histogram method assumes that the image consists of foreground and background. In the grayscale histogram, both the foreground and background form peaks, and the lowest point between the two peaks is the threshold. After obtaining the threshold, the grayscale value of each pixel is compared with the threshold. The grayscale value of pixels greater than the threshold is determined to be 255, and the grayscale value of pixels less than the threshold is determined to be 0. Alternatively, the median value of grayscale value [0, 255], 127, can be taken as the binarization threshold, and then the grayscale value of each pixel is compared with 127.

[0112] S1033, the first binarized image is divided into multiple sub-regions to obtain the first binarized sub-images corresponding to the multiple sub-regions respectively.

[0113] In this embodiment of the application, since the road occupies a large area in the foreground image information, and the smoothness of different areas within the road varies, the first binarized image is divided into multiple sub-regions, for example, into multiple sub-regions of size 10×10. After segmenting the first binarized image, a first binarized sub-image corresponding to each sub-region is obtained.

[0114] S1034, determine the closed contours and the number of closed contours in each sub-region based on the first binarized sub-image corresponding to each sub-region.

[0115] In this embodiment of the application, the first binarized sub-image includes a foreground region composed of grayscale values ​​of 255 and a background composed of grayscale values ​​of 0. Closed contours are determined based on the regions with grayscale values ​​of 255. The closed contours are the bumps or depressions on the road. The more closed contours there are, the more bumps or depressions are on the road corresponding to the sub-region, the rougher the road is, and the lower its smoothness.

[0116] S1035, determine the road smoothness within each sub-region based on the number of closed contours in each sub-region.

[0117] In the embodiments of this application, after determining the number of closed contours in each sub-region, since the number of closed contours represents the protrusions and depressions on the road, the smoothness of the road corresponding to the sub-region can be determined by the number of closed sections.

[0118] S1036, determine the driving route based on the sub-regions where the flatness is less than the preset flatness threshold.

[0119] In this embodiment of the application, after determining the flatness of each sub-region, the relationship between the flatness of each sub-region and the preset flatness threshold is determined. If the flatness is less than the preset flatness threshold, it means that the road is rough enough to compensate for the lack of braking force. Therefore, the driving route is determined based on the sub-regions where the flatness is less than the preset flatness threshold.

[0120] If there are multiple sub-regions in each row with a flatness level below the preset flatness threshold, the driving route is determined based on the sub-region with the lowest flatness. If the flatness level of all sub-regions in a row is below the preset flatness threshold, the driving route is also determined based on the sub-region with the lowest flatness level in that row.

[0121] One possible implementation of this application embodiment is that step S1035 determines the road smoothness within each sub-region based on the number of closed contours in each sub-region, specifically including step S10351 (not shown in the figure), wherein...

[0122] S10351, determine the score corresponding to each sub-region based on the number of closed contours in each sub-region and the preset coefficient.

[0123] The score represents the flatness.

[0124] In this embodiment, the more closed contours there are, the more bumps and depressions there are on the road, and the rougher the road is. That is, the number of closed contours is inversely proportional to the smoothness. Assuming a preset coefficient of -5, the score of each sub-region can be determined by Y = -5X, where Y is the score, -5 is the preset coefficient, and X is the number of closed contours. Assuming the number of closed contours in the first binarized sub-image of a certain sub-region is 15, the score corresponding to that sub-region is -75. Assuming the preset smoothness threshold is represented by -50 points, if the score of this sub-region is less than -50, that is, less than the preset smoothness threshold, the road in this sub-region can be considered part of the driving route.

[0125] In one possible implementation of this application embodiment, if the air pressure value is less than a preset air pressure threshold, step S103 is followed by steps S105 (not shown in the figure), S106 (not shown in the figure), and S107 (not shown in the figure), wherein...

[0126] S105 controls the operation of the air compressor to input compressed air into the mine car's air storage tank.

[0127] In this embodiment, if the air pressure value is less than a preset air pressure threshold, it indicates that compressed gas needs to be added to the mine car's air tank to increase the air pressure inside the tank, so that the air pressure inside the tank meets the braking force required by the mine car. At this time, the air compression device is controlled to operate. The air compression device can be an air pump. The air compression device compresses the air to obtain compressed air, which is then transported to the mine car's air tank through pipelines, thereby increasing the air pressure inside the tank.

[0128] S106: When the air pressure value in the mine car's air tank is detected to reach the preset air pressure threshold, the current forward image information is obtained.

[0129] In this embodiment, the air pressure value inside the mine car's air tank is acquired in real time. When the air pressure value inside the mine car's air tank reaches a preset air pressure threshold, it indicates that the compressed air inside the mine car's air tank can provide the braking force required by the mine car. At this time, the mine car does not need to travel on a rough road, that is, it does not need to follow a driving route. At this time, the current forward image information is acquired, so as to facilitate knowing the road conditions ahead of the mine car.

[0130] S107 replans a new driving route based on the current forward image information.

[0131] The new driving route is determined based on the current image information ahead, and the smoothness reaches a preset smoothness threshold.

[0132] In this embodiment of the application, a new driving route is replanned based on the current forward image information. The smoothness of the new driving route reaches a preset smoothness threshold, and the new driving route is relatively smooth. The mine truck drives along the new driving route, which reduces the friction between the tires and the road surface, thereby reducing tire wear and slowing down tire aging.

[0133] One possible implementation of this application embodiment is that step S107 involves replanning a new driving route based on the current forward image information, specifically including steps S1071 (not shown in the figure), S1072 (not shown in the figure), S1073 (not shown in the figure), S1074 (not shown in the figure), S1075 (not shown in the figure), and S1076 (not shown in the figure), wherein...

[0134] S1071, perform grayscale transformation on the image information in front to obtain a second grayscale image.

[0135] For the embodiments of this application, the operation of performing grayscale transformation on the foreground image information to obtain the second grayscale image can be referred to the content in step S1031.

[0136] S1072, the second grayscale image is binarized to obtain the second binarized image.

[0137] For the embodiments of this application, the operation of binarizing the second grayscale image to obtain the second binarized image can be referred to the content in step S1032.

[0138] S1073, the second binarized image is segmented into multiple sub-regions to obtain the second binarized sub-images corresponding to the multiple sub-regions respectively.

[0139] For the embodiments of this application, the operation of dividing the second binarized image into multiple sub-regions and obtaining the second binarized sub-images corresponding to the multiple sub-regions can be referred to the content in step S1033.

[0140] S1074, determine the closed contours and the number of closed contours in each sub-region based on the second binarized sub-image corresponding to each sub-region.

[0141] For the embodiments of this application, the operation of determining the closed contours and the number of closed contours in each sub-region based on the second binarized sub-image corresponding to each sub-region can refer to the content in step S1034.

[0142] S1075, the smoothness of the road within each sub-region is determined based on the number of closed contours in each sub-region.

[0143] For the embodiments of this application, the operation of determining the road smoothness in each sub-region based on the number of closed contours in each sub-region can refer to the content in step S1035.

[0144] S1076, determine a new driving route based on the sub-region where the flatness reaches the preset flatness threshold.

[0145] For the embodiments of this application, the operation of determining a new driving route based on the sub-regions whose flatness reaches a preset flatness threshold can be referred to in step S1036. Since the new driving route is determined, it can be determined based on the sub-regions whose flatness reaches the preset flatness threshold.

[0146] In one possible implementation of this application embodiment, step S103 is followed by steps S108 (not shown in the figure) and S109 (not shown in the figure), wherein...

[0147] S108, determine whether there are other mining cars in front of the mining car within a preset range.

[0148] In this embodiment, if the air pressure in the mine car's air tank is less than a preset air pressure threshold, it indicates an increased likelihood of the mine car colliding with vehicles ahead during downhill driving. Therefore, it is determined whether other mine cars are within a preset range ahead of the mine car. The preset range represents the area where collisions with mine cars are likely to occur. The mine car can determine whether other mine cars are within the preset range ahead based on the image information ahead. Feature recognition is performed on the image information ahead to determine whether other mine cars are ahead of the mine car. Alternatively, the geographical location information of each other mine car within the same mine can be obtained, and this geographical location information is obtained by a GPS positioning device. It is then determined whether the geographical location information of other mine cars is within the preset range.

[0149] S109, if it exists, sends the travel route to other minecarts.

[0150] In this embodiment of the application, if there are mining cars within a preset range, the driving route of this mining car is sent to other mining cars within the preset range. After receiving the driving route, other mining cars can adjust their routes accordingly and avoid this mining car in time when a collision is about to occur, thereby reducing the possibility of a collision.

[0151] One possible implementation of this application embodiment includes step S110 (not shown in the figure) and step S111 (not shown in the figure) after step S105, wherein,

[0152] S110, obtain the start time of the air compressor's operation, and record the operating duration based on the start time.

[0153] In this embodiment of the application, the start time can be obtained through a clock chip installed on the mining truck, or through the Internet or a cloud server. After obtaining the start time of the air compressor, the working time of the air compressor is recorded by a timer on the mining truck. Assuming the start time is 16:00 and the current working time is 7 minutes.

[0154] S111 If the working time reaches the preset working time and the air pressure in the mine car's air tank does not reach the preset air pressure, a prompt message will be output.

[0155] In this embodiment of the application, assuming the preset working time is 5 minutes, if the mine car determines that the working time of the air compressor has exceeded the preset working time, and the air pressure in the mine car's air tank has not yet reached the preset air pressure value, it indicates that there is an air leak or damage to the air compressor. To reduce the probability of accidents, the mine car promptly outputs a prompt message to alert the staff that there is an abnormality in the compressed gas input to the mine car's air tank. The mine car can send a text message to the relevant staff's terminal device stating "Air pressure abnormality, please check immediately," thus enabling the relevant staff to be promptly informed of the abnormal air pressure in the mine car's air tank.

[0156] The above embodiments describe a mine car auxiliary driving control method from the perspective of process flow. The following embodiments describe a mine car auxiliary driving control device from the perspective of virtual module or virtual unit. For details, please refer to the following embodiments.

[0157] This application provides a mine car auxiliary driving control device 20, such as... Figure 2 As shown, the mine car auxiliary driving control device 20 may specifically include:

[0158] The acquisition module 201 is used to acquire the air pressure value in the mine car's air tank, the tilt angle value between the current mine car and the horizontal plane, and the front image information of the mine car;

[0159] The status judgment module 202 is used to determine whether the mine car is in a downhill state based on the tilt angle value;

[0160] The first route determination module 203 is used to determine the driving route of the mine car when the mine car is in a downhill state and the air pressure value is less than the preset air pressure threshold. The driving route is a route with a flatness less than the preset flatness threshold determined based on the image information in front.

[0161] The first control module 204 is used to control the mine car to travel according to the driving route.

[0162] This application provides a mine car auxiliary driving control device 20. The acquisition module 201 acquires the air pressure value in the mine car's air tank, which helps determine whether the braking force of the mine car's braking device is sufficient. The acquisition module 201 acquires the tilt angle value, which helps the state judgment module 202 determine whether the mine car is on a downhill slope, and thus whether braking is necessary. The acquisition module 201 acquires forward image information to understand the road conditions ahead. When it is determined that the mine car is on a downhill slope, braking is required. If the air pressure value is less than a preset air pressure threshold, it indicates that the pneumatic braking device's braking force is insufficient. At this time, the first route determination module 203 determines the mine car's next driving route based on the forward image information. After determining the driving route, the first control module 204 controls the mine car to drive along the driving route. Since the driving route is a less smooth section of the road ahead, the rougher surface increases the friction between the mine car's tires and the road surface, thereby shortening the braking distance when braking force is insufficient and reducing the possibility of a collision with the vehicle in front.

[0163] In one possible implementation of this application embodiment, the first route determination module 203, when determining the driving route of the mining truck, is specifically used for:

[0164] The first grayscale image is obtained by performing a grayscale transformation on the image information in front;

[0165] The first grayscale image is binarized to obtain the first binary image;

[0166] The first binarized image is divided into multiple sub-regions to obtain the first binarized sub-images corresponding to each sub-region;

[0167] The closed contours and the number of closed contours in each sub-region are determined based on the first binarized sub-image corresponding to each sub-region.

[0168] The smoothness of the road within each sub-region is determined based on the number of closed contours in each sub-region;

[0169] The driving route is determined based on the sub-regions where the flatness is less than a preset flatness threshold.

[0170] In one possible implementation of this application embodiment, when the first route determining block 203 determines the smoothness of the road within each sub-region based on the number of closed contours in each sub-region, it is specifically used for:

[0171] The score for each sub-region is determined based on the number of closed contours in each sub-region and a preset coefficient. The score represents the flatness.

[0172] In one possible implementation of this application embodiment, the apparatus 20 further includes:

[0173] The second control module is used to control the operation of the air compressor to input compressed air into the mine car's air storage tank;

[0174] The image acquisition module is used to acquire the current frontal image information when the air pressure value in the mine car's air tank reaches a preset air pressure threshold.

[0175] The second route determination module is used to replan a new driving route based on the current forward image information. The new driving route is a route whose flatness reaches a preset flatness threshold, determined based on the current forward image information.

[0176] In one possible implementation of this application embodiment, when the second route determination module replans a new driving route based on the current forward image information, it is specifically used for:

[0177] The image information in front is transformed into a grayscale image to obtain a second grayscale image;

[0178] The second grayscale image is binarized to obtain the second binarized image;

[0179] The second binarized image is divided into multiple sub-regions to obtain the second binarized sub-images corresponding to each sub-region;

[0180] The closed contours and the number of closed contours in each sub-region are determined based on the second binarized sub-image corresponding to each sub-region.

[0181] The smoothness of the road within each sub-region is determined based on the number of closed contours in each sub-region;

[0182] A new driving route is determined based on the sub-regions whose flatness reaches a preset flatness threshold.

[0183] In one possible implementation of this application embodiment, the apparatus 20 further includes:

[0184] The vehicle detection module is used to determine whether there are other mining trucks in front of the mining truck within a preset range;

[0185] The sending module is used to send the travel route to other mining trucks when it exists.

[0186] In one possible implementation of this application embodiment, the apparatus 20 further includes:

[0187] The time acquisition module is used to acquire the start time of the air compressor and record the working duration based on the start time.

[0188] The output module is used to output a prompt message when the working time reaches the preset working time and the air pressure in the mine car's air tank does not reach the preset air pressure value.

[0189] In this embodiment, the first route determination module 203 and the second route determination module may be the same route determination module or different route determination modules. The first control module 204 and the second control module may be the same control module or different control modules.

[0190] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the mining car auxiliary driving control device 20 described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0191] This application provides a mining truck in its embodiments, such as... Figure 3 As shown, Figure 3 The mining vehicle 30 shown includes a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, for example, via a bus 302. Optionally, the mining vehicle 30 may also include a transceiver 304. It should be noted that in practical applications, the transceiver 304 is not limited to one type, and the structure of this mining vehicle 30 does not constitute a limitation on the embodiments of this application.

[0192] Processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 301 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0193] Bus 302 may include a pathway for transmitting information between the aforementioned components. Bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 302 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 3 The symbol is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0194] The memory 303 may be a ROM (Read Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0195] The memory 303 is used to store application code that executes the solution of this application, and its execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the content shown in the foregoing method embodiments.

[0196] This application provides a computer-readable storage medium storing a computer program, which, when run on a computer, enables the computer to execute the corresponding content in the aforementioned method embodiments. Compared with related technologies, this application embodiment obtains the air pressure value in the mine car's air tank, which helps determine whether the braking force of the mine car's braking device is sufficient. Obtaining the tilt angle value helps determine whether the mine car is in a downhill state, and thus whether braking is necessary. Obtaining the forward image information helps determine the road conditions ahead. When it is determined that the mine car is in a downhill state, it indicates that braking is necessary, and when the air pressure value is less than a preset air pressure threshold, it indicates that the pneumatic braking device's braking force is insufficient. At this time, the next driving route of the mine car is determined based on the forward image information, and after determining the driving route, the mine car is controlled to drive along the driving route. Since the driving route is a less smooth section of the road ahead, the less smooth road surface is rougher, which increases the friction between the mine car tires and the road surface, thereby shortening the braking distance when the braking force is insufficient and reducing the possibility of collision with the vehicle in front.

[0197] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0198] The above are only some embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for auxiliary driving control of a mining car, characterized in that, include: Acquire the air pressure value in the mine car's air tank, the current tilt angle of the mine car relative to the horizontal plane, and the frontal image information of the mine car; Based on the tilt angle value, determine whether the mine car is in a downhill state; If the mine car is going downhill and the air pressure value is less than a preset air pressure threshold, then the driving route of the mine car is determined. The driving route is a route with a flatness less than a preset flatness threshold, determined based on the image information ahead. Control the mine car to travel along the specified route; Determining the route of the mining car includes: The foreground image information is transformed to obtain a first grayscale image; The first grayscale image is binarized to obtain the first binarized image; The first binarized image is divided into multiple sub-regions to obtain the first binarized sub-images corresponding to the multiple sub-regions respectively; The closed contours and the number of closed contours in each sub-region are determined based on the first binarized sub-image corresponding to each sub-region. The smoothness of the road within each sub-region is determined based on the number of closed contours in each sub-region; The driving route is determined based on sub-regions where the flatness is less than a preset flatness threshold; Determining the road smoothness within each sub-region based on the number of closed contours in each sub-region includes: The score for each sub-region is determined based on the number of closed contours in each sub-region and a preset coefficient, and the score represents the flatness. If the air pressure value is less than a preset air pressure threshold, the following steps also include: Control the operation of the air compression device to input compressed air into the air storage tank of the mine car; When the air pressure value in the air tank of the mining truck reaches the preset air pressure threshold, the current frontal image information is obtained; A new driving route is replanned based on the current forward image information. The new driving route is a route whose smoothness reaches a preset smoothness threshold, as determined by the current forward image information.

2. The auxiliary driving control method for a mining car according to claim 1, characterized in that, The process of replanning a new driving route based on the current forward image information includes: The foreground image information is transformed to obtain a second grayscale image; The second grayscale image is binarized to obtain a second binarized image; The second binarized image is divided into multiple sub-regions to obtain the second binarized sub-images corresponding to each sub-region; The closed contours and the number of closed contours in each sub-region are determined based on the second binarized sub-image corresponding to each sub-region. The smoothness of the road within each sub-region is determined based on the number of closed contours in each sub-region; The new driving route is determined based on the sub-regions whose flatness reaches a preset flatness threshold.

3. The method for auxiliary driving control of a mining car according to claim 1, characterized in that, The method further includes: Determine whether there are other mining cars within a preset range ahead of the mining car; If it exists, the travel route is sent to the other mining vehicles.

4. The auxiliary driving control method for a mining car according to claim 1, characterized in that, Controlling the air compression device to input compressed air into the mine car's air storage tank, then including: Obtain the start time of operation of the air compressor device, and record the operating duration based on the start time; If the working time reaches the preset working time and the air pressure in the mine car's air tank does not reach the preset air pressure, a prompt message will be output.

5. A mining car auxiliary driving control device, characterized in that, include: The acquisition module is used to acquire the air pressure value in the mine car's air tank, the current tilt angle of the mine car relative to the horizontal plane, and the frontal image information of the mine car; The status determination module is used to determine whether the mine car is in a downhill state based on the tilt angle value. The first route determination module is used to determine the driving route of the mine car when the mine car is in a downhill state and the air pressure value is less than a preset air pressure threshold. The driving route is a route with a flatness less than a preset flatness threshold determined based on the image information in front. The first control module is used to control the mine car to travel according to the driving route; When determining the travel route of the mining truck, the first route determination module is specifically used for: The foreground image information is transformed to obtain a first grayscale image; The first grayscale image is binarized to obtain the first binarized image; The first binarized image is divided into multiple sub-regions to obtain the first binarized sub-images corresponding to the multiple sub-regions respectively; The closed contours and the number of closed contours in each sub-region are determined based on the first binarized sub-image corresponding to each sub-region. The smoothness of the road within each sub-region is determined based on the number of closed contours in each sub-region; The driving route is determined based on sub-regions where the flatness is less than a preset flatness threshold; When determining the road smoothness within each sub-region based on the number of closed contours in each sub-region, the first route determination module is specifically used for: The score for each sub-region is determined based on the number of closed contours in each sub-region and a preset coefficient, and the score represents the flatness.

6. A mining car, characterized in that, It includes: One or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications being configured to: execute a mining truck assisted driving control method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed in the computer, the computer is instructed to perform the mining car auxiliary driving control method according to any one of claims 1 to 4.

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