Adaptive speed control method and system for underground trackless rubber-tyred vehicle driving vehicle

Abstract

The present invention discloses an adaptive speed control method and system for an underground trackless rubber-tyred vehicle driving vehicle, and relates to the technical field of trackless rubber-tyred vehicle control. Specifically, the present invention discloses a method and system for calibrating a mine tunnel direction reference line for a three-dimensional structure of a mine tunnel, determining standard travel speeds of nodes at different positions on the mine tunnel direction reference line, identifying travel time as a first consideration factor, identifying the consistency between current structural feature data and reference structural feature data as a second consideration factor, and determining the position node of the trackless rubber-tyred vehicle relative to the mine tunnel direction reference line based on the first consideration factor and the second consideration factor, and driving the trackless rubber-tyred vehicle based on the standard travel speed corresponding to the position node. Through the above technical scheme, the present invention realizes the judgment of the current position of the trackless rubber-tyred vehicle, and then determines the current speed control of the trackless rubber-tyred vehicle, thereby improving the travel safety of the trackless rubber-tyred vehicle in the mine tunnel.

Description

Technical Field

[0001] The invention relates to the technical field of trackless rubber-tyred vehicle control, and in particular to an adaptive speed control method and system for an underground trackless rubber-tyred vehicle driving vehicle. Background Art

[0002] In underground working environments such as mines, rubber-tyred trackless vehicles are widely used as an important means of transportation for the transportation of ore, materials and personnel. However, due to the complexity and uncertainty of the internal environment of mines, rubber-tyred trackless vehicles face many challenges during driving, such as narrow passages, undulating roads, and sudden obstacles. These factors have greatly affected the driving speed and safety of rubber-tyred trackless vehicles.

[0003] Traditional rubber-tyred trackless vehicles rely mainly on the driver's experience and skills to manually control the acceleration, deceleration and steering of the vehicle to cope with different road conditions. However, this manual driving method has great limitations and cannot adapt to the complex and changing mine environment. It is also easily affected by factors such as driver fatigue and lack of concentration, which leads to unstable driving speed and increased safety hazards. Summary of the invention

[0004] The purpose of the present invention is to provide a control method and system that can enable a trackless rubber-tyred vehicle to perform adaptive speed control.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] The adaptive speed control method of an underground trackless rubber-tyred vehicle driving vehicle comprises:

[0007] Use laser scanning equipment to scan the inside of the mine cave, generate point cloud data, and generate the three-dimensional structure of the mine cave based on the point cloud data;

[0008] The mine tunnel strike reference line is calibrated according to the three-dimensional structure of the mine tunnel, and the structural features in the three-dimensional structure of the mine tunnel are analyzed and reduced in dimension to obtain reference structural feature data, and the reference structural feature data is located and associated on the mine tunnel strike reference line;

[0009] Record the standard travel data of the trackless rubber-tyred vehicle in the mine, and determine the standard travel speed of nodes at different positions on the mine direction reference line based on the standard travel data;

[0010] Collect laser detection data from the laser detection device on the rubber-tyred trackless vehicle in real time, determine the structural characteristics of the mine location where the rubber-tyred trackless vehicle is currently located based on the laser detection data, and obtain the current structural characteristic data after analyzing and reducing the dimensionality of the structural characteristics;

[0011] The travel time is identified as the first consideration factor, and the consistency between the current structural characteristic data and the reference structural characteristic data is identified as the second consideration factor. Based on the first consideration factor and the second consideration factor, the position node of the rubber-tyred trackless vehicle relative to the reference line of the mine direction is determined, and the rubber-tyred trackless vehicle is driven based on the standard travel speed corresponding to the position node.

[0012] In some embodiments disclosed in the present invention, a method for generating a three-dimensional structure of a mine includes:

[0013] Analyze the point cloud data, determine the coordinates of each mapping point, and configure each mapping point in a preset spatial coordinate system to obtain an initial point cloud;

[0014] De-noise, filter and simplify the initial point cloud to obtain the reference point cloud;

[0015] The reference point clouds of different stations in the mine are registered, including the rotation and translation of different reference point clouds, so that the reference point clouds corresponding to different stations are merged into the same coordinate system to obtain the overall point cloud;

[0016] The surface of the whole point cloud is meshed to obtain the three-dimensional structure of the mine.

[0017] In some embodiments disclosed in the present invention, a method for calibrating a mine cave direction reference line for a three-dimensional structure of a mine cave includes:

[0018] A probe point array is set for the interior of the three-dimensional structure of the mine cave, and the probe point array includes a plurality of probe points evenly distributed inside the three-dimensional structure of the mine cave;

[0019] Delineating an initial line of the mine tunnel's direction according to the direction of the three-dimensional structure of the mine tunnel, and setting a virtual detection sphere according to the initial line of the mine tunnel's direction, wherein the center of the virtual detection sphere coincides with the initial line of the mine tunnel's direction, and driving the virtual detection sphere to step along the initial line of the mine tunnel's direction;

[0020] After each stepping movement of the virtual detection sphere, the virtual detection sphere is driven to randomly change its position on a vertical plane of the initial line of the mine tunnel, and after each position change, the number of detection points contained in the virtual detection sphere is calculated, and the number of detection points of the detection points in the virtual detection sphere is recorded, and the virtual detection sphere with the largest number of detection points is marked;

[0021] Connect the centers of all marked virtual detection spheres to obtain the reference line of the mine direction.

[0022] In some embodiments disclosed in the present invention, the method for analyzing and reducing the dimension of the structural features in the three-dimensional structure of the mine includes:

[0023] Based on a preset interval, a number of position reference nodes are evenly set on the mine strike reference line, and a vertical reference section is constructed based on the position reference nodes, wherein the vertical reference section is perpendicular to the mine strike reference line;

[0024] Intercept the intersection edge line between the vertical reference section and the three-dimensional structure of the mine tunnel, and evenly set a preset number of collection points on the intersection edge line, and successively determine the edge reference distances of the collection points relative to the mine tunnel strike reference line, and sort the edge reference distances based on the size relationship to obtain an edge reference distance group;

[0025] Continuously combine the edge reference distance groups corresponding to the reference nodes at different positions on the mine direction reference line to obtain edge reference distance sets, wherein the number of continuous combinations is determined according to the overall difference performance between the edge reference distance sets;

[0026] The edge reference distance set is located and associated with the corresponding segment on the mine strike reference line.

[0027] In some embodiments disclosed herein, a method for determining an overall difference performance between edge reference distance sets includes:

[0028] Randomly select a number of edge reference distance sets for comparison from all edge reference distance sets, which are recorded as comparison edge reference distance sets;

[0029] Randomly combining the edge reference distance sets for comparison in pairs to obtain a number of comparison data groups, and calculating the similarity between the edge reference distance sets for comparison in each comparison data group;

[0030] Based on the degree of similarity corresponding to each pair of data groups, the corresponding value of the overall difference performance between the edge reference distance sets is determined;

[0031] Among them, the expression for calculating the corresponding value of the overall difference performance is:

[0032] ;

[0033] in, is the preset maximum similarity, is the corresponding value of the overall difference between the edge reference distance sets, is the similarity of the ith comparison data set, b is the similarity adjustment constant, n is the number of comparison data sets, is the similarity conversion coefficient;

[0034] ;

[0035] in, is the similarity judgment function of the xth edge reference distance between the edge reference distance groups. If the difference of the xth edge reference distance Less than or equal to the preset standard edge reference distance difference ,but Outputs a preset specific constant, otherwise outputs 0.

[0036] In some embodiments disclosed in the present invention, the method of determining the travel time as the first consideration factor includes:

[0037] Mark the standard arrival time for nodes at different locations on the mine direction reference line;

[0038] Collect the real-time travel speed of the trackless rubber-tyred vehicle in real time, determine the average travel speed based on the real-time travel speed, and determine the travel mileage of the trackless rubber-tyred vehicle in combination with the travel time;

[0039] Mapping the mileage of the rubber-tyred trackless vehicle on the reference line of the mine direction is the first consideration mapping point.

[0040] In some embodiments disclosed in the present invention, the method of determining the consistency between the current structural feature data and the reference structural feature data as the second consideration factor includes:

[0041] A reference line segment of a preset length near the first consideration factor mapping point on the mine direction reference line is intercepted and located, and reference structural feature data of nodes at different positions in the reference line segment are synchronously intercepted;

[0042] The current structural feature data is compared with the intercepted reference structural feature data, and the degree of agreement between the two is calculated. If the degree of agreement between the two is greater than or equal to a preset value, the position node corresponding to the reference structural feature data is identified as the position node of the rubber-tyred trackless vehicle relative to the reference line of the mine direction.

[0043] In some embodiments disclosed in the present invention, the method for calculating the degree of agreement between current structural feature data and reference structural feature data includes:

[0044] Analyze the current structural characteristic data and the reference structural characteristic data to determine the structural characteristic factor parameter group of each mine tunnel vertical section, which are recorded as the current structural characteristic factor parameter group and the reference structural characteristic factor parameter group;

[0045] Compare the continuous current structural characteristic factor parameter group with the continuous reference structural characteristic factor parameter group to calculate the degree of coincidence;

[0046] The expression for calculating the degree of fit is:

[0047] ;

[0048] in, is the corresponding value of the degree of fit, is the structural characteristic factor parameter matching judgment function. If the difference between the qth current structural characteristic factor parameter and the reference structural characteristic factor parameter is less than or equal to the preset value, then Outputs a preset specific constant, otherwise outputs 0. is the total number of structural characteristic factor parameters in the continuous structural characteristic factor parameter group, and c is the structural difference adjustment constant.

[0049] In some embodiments disclosed in the present invention, there is also disclosed an adaptive speed control system for an underground trackless rubber-tyred vehicle driving vehicle, comprising:

[0050] The first module is used to generate the three-dimensional structure of the mine based on point cloud data;

[0051] The second module is used to calibrate the mine tunnel strike reference line according to the three-dimensional structure of the mine tunnel, analyze and reduce the structural features in the three-dimensional structure of the mine tunnel, obtain reference structural feature data, and locate and associate the reference structural feature data on the mine tunnel strike reference line;

[0052] The third module is used to record the standard travel data of the trackless rubber-tyred vehicle in the mine, and determine the standard travel speed of nodes at different positions on the mine direction reference line based on the standard travel data;

[0053] The fourth module is used to collect laser detection data from the laser detection device on the rubber-tyred trackless vehicle in real time, and determine the structural characteristics of the mine where the rubber-tyred trackless vehicle is currently located based on the laser detection data, and obtain the current structural characteristic data after analyzing and reducing the dimension of the structural characteristics;

[0054] The fifth module is used to identify the travel time as the first consideration factor, and identify the consistency between the current structural feature data and the reference structural feature data as the second consideration factor, and based on the first consideration factor and the second consideration factor, determine the position node of the rubber-tyred trackless vehicle relative to the reference line of the mine direction, and drive the rubber-tyred trackless vehicle based on the standard travel speed corresponding to the position node.

[0055] The present invention discloses an adaptive speed control method and system for an underground trackless rubber-tyred vehicle driving vehicle, and relates to the technical field of trackless rubber-tyred vehicle control. Specifically, the present invention discloses a method and system for calibrating a mine tunnel direction reference line for a three-dimensional structure of a mine tunnel, determining standard travel speeds of nodes at different positions on the mine tunnel direction reference line, identifying travel time as a first consideration factor, identifying the consistency between current structural feature data and reference structural feature data as a second consideration factor, and determining the position node of the trackless rubber-tyred vehicle relative to the mine tunnel direction reference line based on the first consideration factor and the second consideration factor, and driving the trackless rubber-tyred vehicle based on the standard travel speed corresponding to the position node. Through the above technical scheme, the present invention realizes the judgment of the current position of the trackless rubber-tyred vehicle, and then determines the current speed control of the trackless rubber-tyred vehicle, thereby improving the travel safety of the trackless rubber-tyred vehicle in the mine tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 The present invention is a method step diagram of an adaptive speed control method for an underground trackless rubber-tyred vehicle driving vehicle disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0058] The present invention adopts the following technical solutions:

[0059] Adaptive speed control method for driving a trackless rubber-tyred vehicle in an underground mine, see Figure 1 ,include:

[0060] Step S100, using a laser scanning device to scan the interior of the mine cave, generate point cloud data, and generate a three-dimensional structure of the mine cave based on the point cloud data.

[0061] In this step, laser scanning technology is a non-contact measurement method that uses a laser beam emitted by a laser to scan the surface of an object, and records the time difference or angle change of the laser beam reflected back through a receiver to obtain the three-dimensional coordinate information of the object surface. These coordinate information are called point cloud data because they look like the distribution of countless points in three-dimensional space. By analyzing and processing these point cloud data, a three-dimensional structural model of the mine can be constructed to provide accurate geographic information for subsequent path planning and speed control.

[0062] In some embodiments disclosed in the present invention, a method for generating a three-dimensional structure of a mine includes:

[0063] Step S101 , analyzing the point cloud data, determining the coordinates of each mapping point, and configuring each mapping point in a preset spatial coordinate system to obtain an initial point cloud.

[0064] Point cloud data is collected by laser scanning equipment, where each point represents a reflection point on the surface of the object; in this step, the point cloud data is analyzed to determine the coordinates of each mapping point (i.e., reflection point). These coordinates are usually three-dimensional, including coordinate values ​​in the x, y, and z directions; these coordinates are configured in a preset spatial coordinate system to obtain the initial point cloud. The spatial coordinate system is a reference frame used to locate and describe each point in the point cloud.

[0065] Step S102, denoising, filtering and simplifying the initial point cloud to obtain a reference point cloud.

[0066] The initial point cloud may contain noise, outliers or redundant points, which will affect the accuracy and efficiency of subsequent processing; therefore, the initial point cloud needs to be denoised, filtered and streamlined; denoising involves removing points that are obviously erroneous due to measurement errors or other factors; filtering is to select or exclude certain points based on certain criteria (such as distance, intensity, etc.); simplification is to reduce the number of points while maintaining the main shape and structural features of the object, which is usually achieved by downsampling or using more advanced algorithms.

[0067] Step S103, registering the reference point clouds of different stations in the mine, including rotating and translating the different reference point clouds, so that the reference point clouds corresponding to the different stations are merged into the same coordinate system to obtain the overall point cloud.

[0068] Scanning of a mine may need to be performed at multiple sites to cover the entire mine; scanning at each site will produce a reference point cloud; in order to construct a complete 3D model of the mine, these reference point clouds from different sites need to be registered; registration includes determining the relative position relationship between different point clouds and aligning them to the same coordinate system through rotation and translation; in this way, point clouds from different sites can be merged into a continuous overall point cloud.

[0069] Step 104, surface meshing is performed on the entire point cloud to obtain a three-dimensional structure of the mine.

[0070] The final step is to perform surface meshing on the entire point cloud. Meshing is the process of converting a point cloud into a mesh model composed of facets, which can be used for visualization or further analysis. Surface meshing creates facets by connecting points in the point cloud to form a continuous surface, which is the three-dimensional structural model of the mine. This model can be used for a variety of applications such as navigation, path planning, and collision detection.

[0071] Step S200, calibrate the mine tunnel strike reference line for the three-dimensional structure of the mine tunnel, analyze and reduce the dimension of the structural features in the three-dimensional structure of the mine tunnel, obtain reference structural feature data, and locate and associate the reference structural feature data on the mine tunnel strike reference line.

[0072] In this step, the mine direction reference line is calibrated to determine the main direction of travel of the mine, which is usually based on the design or mining direction of the mine; dimensionality reduction of structural features refers to extracting key feature information from the complex three-dimensional structure of the mine, such as the width, height, turning radius, etc. of the mine, and simplifying this information into a lower-dimensional representation for easy computer processing and vehicle navigation; associating these reference structural feature data with the mine direction reference line can help the vehicle control system predict the road conditions ahead and make corresponding speed adjustments.

[0073] In some embodiments disclosed in the present invention, a method for calibrating a mine cave direction reference line for a three-dimensional structure of a mine cave includes:

[0074] In step S201, a detection point array is set inside the three-dimensional structure of the mine cave, and the detection point array includes a plurality of detection points evenly distributed inside the three-dimensional structure of the mine cave.

[0075] Step S202, based on the direction of the three-dimensional structure of the mine tunnel, an initial line of the mine tunnel direction is delineated, and a virtual detection sphere is set for the initial line of the mine tunnel direction, the center of the virtual detection sphere is coincident with the initial line of the mine tunnel direction, and the virtual detection sphere is driven to step on the initial line of the mine tunnel direction.

[0076] Step S203, after each stepping movement of the virtual detection sphere is completed, the virtual detection sphere is driven to randomly change its position on the vertical plane of the initial line of the mine tunnel direction, and after each position change, the number of detection points contained in the virtual detection sphere is calculated, and the number of detection points in the virtual detection sphere is recorded, and the virtual detection sphere with the largest number of detection points is marked.

[0077] Step S204, connecting the centers of all marked virtual detection spheres to obtain a mine direction reference line.

[0078] In some embodiments disclosed in the present invention, the method for analyzing and reducing the dimension of the structural features in the three-dimensional structure of the mine includes:

[0079] Step S205, based on a preset interval, a number of position reference nodes are evenly set on the mine strike reference line, and a vertical reference section is constructed based on the position reference nodes, wherein the vertical reference section is perpendicular to the mine strike reference line.

[0080] Step S206, intercepting the intersection edge line between the vertical reference section and the three-dimensional structure of the mine, and evenly setting a preset number of collection points on the intersection edge line, and successively determining the edge reference distances of the collection points relative to the mine direction reference line, and sorting the edge reference distances based on the size relationship to obtain an edge reference distance group.

[0081] Step S207, continuously combining edge reference distance groups corresponding to reference nodes at different positions on the mine direction reference line to obtain edge reference distance sets, wherein the number of continuous combinations is determined according to the overall difference performance between the edge reference distance sets.

[0082] Step S208, locating and associating the edge reference distance set with the corresponding section on the mine strike reference line.

[0083] In some embodiments disclosed herein, a method for determining an overall difference performance between edge reference distance sets includes:

[0084] Step S2071 , randomly select a number of edge reference distance sets for comparison from all edge reference distance sets, and record them as comparison edge reference distance sets.

[0085] Step S2072, randomly combining the edge reference distance sets for comparison in pairs to obtain a number of comparison data groups, and calculating the similarity between the edge reference distance sets for comparison in each comparison data group.

[0086] Step S2073, determining the corresponding value of the overall difference performance between the edge reference distance sets based on the degree of similarity corresponding to each pair of data groups.

[0087] Among them, the expression for calculating the corresponding value of the overall difference performance is:

[0088] .

[0089] in, is the preset maximum similarity, is the corresponding value of the overall difference between the edge reference distance sets, is the similarity of the ith comparison data set, b is the similarity adjustment constant, n is the number of comparison data sets, is the similarity conversion coefficient;

[0090] .

[0091] in, is the similarity judgment function of the xth edge reference distance between the edge reference distance groups. If the difference of the xth edge reference distance Less than or equal to the preset standard edge reference distance difference ,but Outputs a preset specific constant, otherwise outputs 0.

[0092] Step S300, recording the standard travel data of the rubber-tyred trackless vehicle in the mine, and determining the standard travel speed of nodes at different positions on the mine direction reference line according to the standard travel data.

[0093] In this step, the standard travel data of the rubber-tyred trackless vehicle is recorded, including the travel speed, time, acceleration, etc. on different sections of the road. These data are usually collected when the vehicle is operating normally. By analyzing these data, the standard travel speed of the vehicle at each position node on the reference line of the mine direction can be determined, which is the reference benchmark for the adaptive speed control system.

[0094] Step S400, real-time acquisition of laser detection data from a laser detection device on the rubber-tyred trackless vehicle, and determination of structural features of the mine location where the rubber-tyred trackless vehicle is currently located based on the laser detection data, and analysis and dimensionality reduction of the structural features to obtain current structural feature data.

[0095] In this step, the data collected in real time by the laser detection device on the rubber-tyred trackless vehicle is used to determine the vehicle's current specific location in the mine and the surrounding environment; these real-time data are compared with the previously established three-dimensional structure model of the mine to identify the current structural features. By analyzing and reducing the dimensions of these features, the current structural feature data can be obtained, which will be used to determine whether the vehicle is traveling along the predetermined path and whether the speed needs to be adjusted.

[0096] Step S500, the travel time is identified as the first consideration factor, the consistency between the current structural feature data and the reference structural feature data is identified as the second consideration factor, and based on the first consideration factor and the second consideration factor, the position node of the rubber-tyred trackless vehicle relative to the reference line of the mine direction is determined, and the rubber-tyred trackless vehicle is driven based on the standard travel speed corresponding to the position node.

[0097] The first consideration is the travel time. The system collects the travel speed and time of the rubber-tyred trackless vehicle in real time, and calculates the vehicle's travel mileage; this mileage information is then mapped to the mine direction reference line to estimate the approximate position of the vehicle on the reference line. This position estimate is based on the accumulation of time and the integration of speed, which provides a preliminary positioning, but may be affected by speed fluctuations and measurement errors. The second consideration is the consistency of the current structural feature data and the reference structural feature data. The system compares the real-time detected mine structure feature data with the previously established reference structure feature data. By referring to these two considerations at the same time, the system can more accurately determine the position node of the rubber-tyred trackless vehicle relative to the mine direction reference line. The travel time provides continuous position information, and the consistency of the structural features provides a mechanism to verify and correct this position information. This dual verification method improves the accuracy of positioning, allowing the speed control system to more reliably adjust the driving speed according to the actual position and environmental conditions of the vehicle, thereby improving the safety and efficiency of driving.

[0098] In some embodiments disclosed in the present invention, the method of determining the travel time as the first consideration factor includes:

[0099] Step S501, marking the standard arrival time for different position nodes on the mine direction reference line.

[0100] Step S502, collecting the real-time travel speed of the trackless rubber-tyred vehicle in real time, and determining the average travel speed based on the real-time travel speed, and determining the travel mileage of the trackless rubber-tyred vehicle in combination with the travel time.

[0101] Step S503, mapping the travel distance of the rubber-tyred trackless vehicle on the mine direction reference line, which is the first consideration factor mapping point.

[0102] In some embodiments disclosed in the present invention, the method of determining the consistency between the current structural feature data and the reference structural feature data as the second consideration factor includes:

[0103] Step S504, intercepting and locating a reference line segment of a preset length near the first consideration factor mapping point on the mine direction reference line, and synchronously intercepting reference structural feature data of nodes at different positions in the reference line segment.

[0104] Step S505, compare the current structural feature data with the intercepted reference structural feature data, calculate the degree of agreement between the two, and if the degree of agreement between the two is greater than or equal to a preset value, identify the position node corresponding to the reference structural feature data as the position node of the rubber-tyred trackless vehicle relative to the reference line of the mine tunnel.

[0105] In some embodiments disclosed in the present invention, the method for calculating the degree of agreement between current structural feature data and reference structural feature data includes:

[0106] Step S5051, analyze the current structural characteristic data and the reference structural characteristic data to determine the structural characteristic factor parameter groups of the respective mine vertical sections, which are recorded as the current structural characteristic factor parameter group and the reference structural characteristic factor parameter group.

[0107] Step S5052, compare the continuous current structure characteristic factor parameter group with the continuous reference structure characteristic factor parameter group to calculate the degree of coincidence.

[0108] The expression for calculating the degree of fit is:

[0109] .

[0110] in, is the corresponding value of the degree of fit, is the structural characteristic factor parameter matching judgment function. If the difference between the qth current structural characteristic factor parameter and the reference structural characteristic factor parameter is less than or equal to the preset value, then Outputs a preset specific constant, otherwise outputs 0. is the total number of structural characteristic factor parameters in the continuous structural characteristic factor parameter group, and c is the structural difference adjustment constant.

[0111] In some embodiments disclosed in the present invention, there is also disclosed an adaptive speed control system for an underground trackless rubber-tyred vehicle driving vehicle, comprising:

[0112] The first module is used to generate the three-dimensional structure of the mine based on point cloud data;

[0113] The second module is used to calibrate the mine tunnel strike reference line according to the three-dimensional structure of the mine tunnel, analyze and reduce the structural features in the three-dimensional structure of the mine tunnel, obtain reference structural feature data, and locate and associate the reference structural feature data on the mine tunnel strike reference line;

[0114] The third module is used to record the standard travel data of the trackless rubber-tyred vehicle in the mine, and determine the standard travel speed of nodes at different positions on the mine direction reference line based on the standard travel data;

[0115] The fourth module is used to collect laser detection data from the laser detection device on the rubber-tyred trackless vehicle in real time, and determine the structural characteristics of the mine where the rubber-tyred trackless vehicle is currently located based on the laser detection data, and obtain the current structural characteristic data after analyzing and reducing the dimension of the structural characteristics;

[0116] The fifth module is used to identify the travel time as the first consideration factor, and identify the consistency between the current structural feature data and the reference structural feature data as the second consideration factor, and based on the first consideration factor and the second consideration factor, determine the position node of the rubber-tyred trackless vehicle relative to the reference line of the mine direction, and drive the rubber-tyred trackless vehicle based on the standard travel speed corresponding to the position node.

[0117] The present invention discloses an adaptive speed control method and system for an underground trackless rubber-tyred vehicle driving vehicle, and relates to the technical field of trackless rubber-tyred vehicle control. Specifically, the present invention discloses a method and system for calibrating a mine tunnel direction reference line for a three-dimensional structure of a mine tunnel, determining standard travel speeds of nodes at different positions on the mine tunnel direction reference line, identifying travel time as a first consideration factor, identifying the consistency between current structural feature data and reference structural feature data as a second consideration factor, and determining the position node of the trackless rubber-tyred vehicle relative to the mine tunnel direction reference line based on the first consideration factor and the second consideration factor, and driving the trackless rubber-tyred vehicle based on the standard travel speed corresponding to the position node. Through the above technical scheme, the present invention realizes the judgment of the current position of the trackless rubber-tyred vehicle, and then determines the current speed control of the trackless rubber-tyred vehicle, thereby improving the travel safety of the trackless rubber-tyred vehicle in the mine tunnel.

[0118] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An adaptive speed control method for an underground trackless rubber-tyred vehicle driving vehicle, characterized in that: include: Use laser scanning equipment to scan the inside of the mine cave, generate point cloud data, and generate the three-dimensional structure of the mine cave based on the point cloud data; The mine tunnel strike reference line is calibrated according to the three-dimensional structure of the mine tunnel, and the structural features in the three-dimensional structure of the mine tunnel are analyzed and reduced in dimension to obtain reference structural feature data, and the reference structural feature data is located and associated on the mine tunnel strike reference line; Record the standard travel data of the trackless rubber-tyred vehicle in the mine, and determine the standard travel speed of nodes at different positions on the mine direction reference line based on the standard travel data; Collect laser detection data from the laser detection device on the rubber-tyred trackless vehicle in real time, determine the structural characteristics of the mine location where the rubber-tyred trackless vehicle is currently located based on the laser detection data, and obtain the current structural characteristic data after analyzing and reducing the dimensionality of the structural characteristics; The travel time is identified as the first consideration factor, and the consistency between the current structural characteristic data and the reference structural characteristic data is identified as the second consideration factor. Based on the first consideration factor and the second consideration factor, the position node of the rubber-tyred trackless vehicle relative to the reference line of the mine tunnel is determined, and the rubber-tyred trackless vehicle is driven based on the standard travel speed corresponding to the position node; Methods for analyzing and reducing the dimension of structural features in the three-dimensional structure of a mine include: Based on a preset interval, a number of position reference nodes are evenly set on the mine strike reference line, and a vertical reference section is constructed based on the position reference nodes, wherein the vertical reference section is perpendicular to the mine strike reference line; Intercept the intersection edge line between the vertical reference section and the three-dimensional structure of the mine tunnel, and evenly set a preset number of collection points on the intersection edge line, and successively determine the edge reference distances of the collection points relative to the mine tunnel strike reference line, and sort the edge reference distances based on the size relationship to obtain an edge reference distance group; Continuously combine the edge reference distance groups corresponding to the reference nodes at different positions on the mine direction reference line to obtain edge reference distance sets, wherein the number of continuous combinations is determined according to the overall difference performance between the edge reference distance sets; The edge reference distance set is located and associated with the corresponding segment on the mine strike reference line.

2. The adaptive speed control method for driving an underground trackless rubber-tyred vehicle according to claim 1, characterized in that: The method for generating the three-dimensional structure of the mine includes: Analyze the point cloud data, determine the coordinates of each mapping point, and configure each mapping point in a preset spatial coordinate system to obtain an initial point cloud; De-noise, filter and simplify the initial point cloud to obtain the reference point cloud; The reference point clouds of different stations in the mine are registered, including the rotation and translation of different reference point clouds, so that the reference point clouds corresponding to different stations are merged into the same coordinate system to obtain the overall point cloud; The surface of the whole point cloud is meshed to obtain the three-dimensional structure of the mine.

3. The adaptive speed control method for driving an underground trackless rubber-tyred vehicle according to claim 1, characterized in that: The method for calibrating the mine tunnel direction reference line for the three-dimensional structure of the mine tunnel includes: A probe point array is set for the interior of the three-dimensional structure of the mine cave, and the probe point array includes a plurality of probe points evenly distributed inside the three-dimensional structure of the mine cave; Delineating an initial line of the mine tunnel's direction according to the direction of the three-dimensional structure of the mine tunnel, and setting a virtual detection sphere according to the initial line of the mine tunnel's direction, wherein the center of the virtual detection sphere coincides with the initial line of the mine tunnel's direction, and driving the virtual detection sphere to step along the initial line of the mine tunnel's direction; After each stepping movement of the virtual detection sphere, the virtual detection sphere is driven to randomly change its position on a vertical plane of the initial line of the mine tunnel, and after each position change, the number of detection points contained in the virtual detection sphere is calculated, and the number of detection points of the detection points in the virtual detection sphere is recorded, and the virtual detection sphere with the largest number of detection points is marked; Connect the centers of all marked virtual detection spheres to obtain the reference line of the mine direction.

4. The adaptive speed control method for driving an underground trackless rubber-tyred vehicle according to claim 1, characterized in that: Methods for determining the overall difference performance between sets of edge reference distances include; Randomly select a number of edge reference distance sets for comparison from all edge reference distance sets, which are recorded as comparison edge reference distance sets; Randomly combining the edge reference distance sets for comparison in pairs to obtain a number of comparison data groups, and calculating the similarity between the edge reference distance sets for comparison in each comparison data group; Based on the degree of similarity corresponding to each pair of data groups, the corresponding value of the overall difference performance between the edge reference distance sets is determined; Among them, the expression for calculating the corresponding value of the overall difference performance is: ； in, is the preset maximum similarity, is the corresponding value of the overall difference between the edge reference distance sets, is the similarity of the ith comparison data set, Adjust the constant for similarity, is the number of comparison data sets, is the similarity conversion coefficient; ； in, is the similarity judgment function of the xth edge reference distance between the edge reference distance groups. If the difference of the xth edge reference distance Less than or equal to the preset standard edge reference distance difference ,but Outputs a preset specific constant, otherwise outputs 0.

5. The adaptive speed control method for driving an underground trackless rubber-tyred vehicle according to claim 1, characterized in that: Methods for considering travel time as the primary consideration include: Mark the standard arrival time for nodes at different locations on the mine direction reference line; Collect the real-time travel speed of the trackless rubber-tyred vehicle in real time, determine the average travel speed based on the real-time travel speed, and determine the travel mileage of the trackless rubber-tyred vehicle in combination with the travel time; Mapping the mileage of the rubber-tyred trackless vehicle on the reference line of the mine direction is the first consideration mapping point.

6. The adaptive speed control method for driving an underground trackless rubber-tyred vehicle according to claim 5, characterized in that: Methods for determining the consistency between the current structural feature data and the reference structural feature data as a second consideration include: A reference line segment of a preset length near the first consideration factor mapping point on the mine direction reference line is intercepted and located, and reference structural feature data of nodes at different positions in the reference line segment are synchronously intercepted; The current structural feature data is compared with the intercepted reference structural feature data, and the degree of agreement between the two is calculated. If the degree of agreement between the two is greater than or equal to a preset value, the position node corresponding to the reference structural feature data is identified as the position node of the rubber-tyred trackless vehicle relative to the reference line of the mine direction.

7. The adaptive speed control method for driving an underground trackless rubber-tyred vehicle according to claim 6, characterized in that: Methods for calculating the degree of agreement between current structural feature data and reference structural feature data include: Analyze the current structural characteristic data and the reference structural characteristic data to determine the structural characteristic factor parameter group of each mine tunnel vertical section, which are recorded as the current structural characteristic factor parameter group and the reference structural characteristic factor parameter group; Compare the continuous current structural characteristic factor parameter group with the continuous reference structural characteristic factor parameter group to calculate the degree of coincidence; The expression for calculating the degree of fit is: ； in, is the corresponding value of the degree of fit, is the structural characteristic factor parameter matching judgment function. If the difference between the qth current structural characteristic factor parameter and the reference structural characteristic factor parameter is less than or equal to the preset value, then Output a preset specific constant, otherwise output 0, Q is the total number of structural characteristic factor parameters in the continuous structural characteristic factor parameter group, and c is the structural difference adjustment constant.

8. An adaptive speed control system for an underground trackless rubber-tyred vehicle driving vehicle, characterized in that: The adaptive speed control method for driving an underground trackless rubber-tyred vehicle for executing any one of claims 1 to 7 comprises: The first module is used to generate the three-dimensional structure of the mine based on point cloud data; The second module is used to calibrate the mine tunnel strike reference line according to the three-dimensional structure of the mine tunnel, analyze and reduce the structural features in the three-dimensional structure of the mine tunnel, obtain reference structural feature data, and locate and associate the reference structural feature data on the mine tunnel strike reference line; The third module is used to record the standard travel data of the trackless rubber-tyred vehicle in the mine, and determine the standard travel speed of nodes at different positions on the mine direction reference line based on the standard travel data; The fourth module is used to collect laser detection data from the laser detection device on the rubber-tyred trackless vehicle in real time, and determine the structural characteristics of the mine where the rubber-tyred trackless vehicle is currently located based on the laser detection data, and obtain the current structural characteristic data after analyzing and reducing the dimension of the structural characteristics; The fifth module is used to identify the travel time as the first consideration factor, and identify the consistency between the current structural feature data and the reference structural feature data as the second consideration factor, and based on the first consideration factor and the second consideration factor, determine the position node of the rubber-tyred trackless vehicle relative to the reference line of the mine direction, and drive the rubber-tyred trackless vehicle based on the standard travel speed corresponding to the position node.

Images