An underground vehicle path planning method, device and equipment

CN115451989BActive Publication Date: 2026-06-19CENT SOUTH UNIV

Patent Information

Authority / Receiving Office: CN · China
Patent Type: Patents(China)
Current Assignee / Owner: CENT SOUTH UNIV
Filing Date: 2022-10-14
Publication Date: 2026-06-19

AI Technical Summary

Technical Problem

Existing technologies struggle to implement path planning for vehicle turns in underground mines, especially methods based on Hough transform, which are only applicable to local path planning for vehicles traveling straight and lack effective methods for turning path planning.

Method used

By acquiring point cloud data within the effective range, converting it into a binary map, using a thinning algorithm to extract the skeleton, generating alternative paths, and selecting appropriate path lines for smoothing, vehicle path planning is achieved.

Benefits of technology

It enables efficient planning of underground vehicle routes, especially at turns, reducing the response time of vehicle control programs and improving the safety and efficiency of autonomous driving for underground vehicles.

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Abstract

This invention discloses an underground vehicle path planning method, comprising: acquiring point cloud data within an effective range and converting the point cloud data into a binary image; extracting the skeleton of the binary image using a thinning algorithm; obtaining candidate paths through the skeleton and selecting a suitable candidate path as the path line; and smoothing the path line to obtain the planned path for the vehicle. The path planning method of this invention is simple and efficient, capable of path planning not only for straight-ahead driving but also for turning driving.

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