Coal carrying route switching method and system, computing equipment and medium

Abstract

The invention relates to a coal carrying route switching method and system, computing equipment and a medium. The method comprises the following steps: acquiring images acquired by each camera according to a preset frequency; wherein the cameras are laid in a first route according to a preset interval; based on each image acquired by the same camera, determining whether a forbidding obstacle exists in a road section in the first route corresponding to each camera; and if the forbidding obstacle exists in any road section, switching the carrying route from the first route to a second route, and controlling the carrying vehicle to run according to the switched second route. According to the method, the carrying route can be switched from the first route to the second route when the carrying vehicle cannot completely pass through the first route, and the carrying vehicle is controlled to run according to the switched second route, so that the carrying vehicle can carry coal to a storage yard through the second route, and the coal carrying efficiency of the carrying vehicle can be improved.

Description

Background Art

[0002] At present, the coal generated by thermal power plants is usually transported to coal concentration centers or yards by staff operating electric forklifts and stacked. However, with the substantial improvement in the degree of automation of thermal power plants, the construction of intelligent power fields and the advancement of centralized control with few people and no one on duty, it is particularly abrupt to operate electric forklifts to transport coal, which is dangerous and has high labor costs. Therefore, the prior art proposes the use of unmanned transport vehicles (hereinafter referred to as transport vehicles) to transport coal. Because the transport vehicle usually detects obstacles near the vehicle body with the help of its own sensors when driving, so as to avoid obstacles and realize the transportation of coal. Therefore, when there is an inaccessible prohibited obstacle on the transportation route, the transport vehicle often only knows that it cannot completely pass the transportation route when it detects the prohibited obstacle with the help of its own sensors, which causes the transport vehicle to wait for the obstacle to be removed before it can continue to transport the coal to the yard via the transportation route. In this way, the efficiency of the transport vehicle in transporting coal is low.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] In order to overcome the problem of low efficiency in transporting coal by conventional transport vehicles, the present invention provides a method, system, computing device and medium for switching coal transport routes.

[0005] In a first aspect, in order to solve the above technical problems, the present invention provides a method for switching a coal transportation route, comprising:

[0006] Acquire images collected by each camera at a preset frequency; wherein each camera is laid out in the first route at a preset interval;

[0007] Based on the images captured by the same camera, determining whether there is a prohibited obstacle in the road section of the first route corresponding to each camera;

[0008] If there is a prohibited obstacle in any section of the first route, the transport route is switched from the first route to a second route, and the transport vehicle is controlled to travel along the switched second route.

[0009] In a second aspect, in order to solve the above technical problems, the present invention provides a switching system for coal transportation routes, comprising:

[0010] An acquisition module, used to acquire images collected by each camera at a preset frequency; wherein each camera is laid out in the first route at a preset interval;

[0011] A determination module, for determining whether there is a prohibited obstacle in the road section of the first route corresponding to each camera based on each image captured by the same camera;

[0012] The switching module is used to switch the transport route from the first route to a second route if there is a prohibited obstacle in any of the road sections, and control the transport vehicle to travel along the switched second route.

[0013] In a third aspect, in order to solve the above-mentioned technical problem, the present invention provides a computing device, including a memory, a processor and a program stored in the memory and running on the processor, and when the processor executes the program, the steps of a method for switching a coal transportation route as described above are implemented.

[0014] In a fourth aspect, in order to solve the above-mentioned technical problem, the present invention provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the steps of a method for switching a coal transportation route as described above.

[0015] The beneficial effect of the present invention is that by acquiring images collected by multiple cameras laid in the first route at a preset frequency, it is possible to know whether there are prohibited obstacles that the transport vehicle cannot pass through in the road section corresponding to each camera. If there is a prohibited obstacle in any road section, it means that the transport vehicle cannot pass through the road section where the prohibited obstacle is located, that is, when the transport route is the first route, the transport vehicle cannot completely pass through the transport route. In this way, when the transport vehicle cannot completely pass through the first route, the transport route is switched from the first route to the second route, and the transport vehicle is controlled to travel along the switched second route, so that the transport vehicle can transport the coal to the yard through the second route, so as to improve the efficiency of the transport vehicle in transporting coal. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic flow chart of a method for switching a coal transportation route provided by the present invention;

[0017] Figure 2 A schematic structural diagram of a coal transport route switching system provided by the present invention. DETAILED DESCRIPTION

[0018] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0019] The following describes a method, system, computing device and medium for switching a coal transportation route according to an embodiment of the present invention in conjunction with the accompanying drawings.

[0020] A method for dumping coal provided in an embodiment of the present disclosure is applied to an electronic device. The electronic device can be connected to the Internet to communicate with a transport vehicle, a camera, a rangefinder, a positioning device, etc. In some embodiments, the electronic device is, for example, a computer or a server. In this embodiment, the transport vehicle is an automated guided vehicle (AGV), also known as a transport robot.

[0021] An isobaric pebble coal discharge device (also known as a coal unloading mechanism) is arranged under each coal mill in a thermal power plant to discharge the generated coal into the coal hopper. The coal hopper filled with coal is transferred to the coal transfer point, that is, the coal is transferred to the coal transfer point. The transporter transports the coal from the coal transfer point to the yard via the transport route. Therefore, in order to facilitate the transport of the coal hopper to achieve the transfer of coal, the transporter in this embodiment is a transport forklift. In this embodiment, the first route and the second route are both transport routes, and the starting points of the first route and the second route are both coal transfer points, and the end points are both yards. The first route and the second route both refer to roads that the transporter can actually pass, which do not include buildings, sidewalks, etc. on both sides of the road. A plurality of cameras (not shown) are laid in the first route at preset intervals. The first route is divided into a plurality of sections along the extension direction of the first route. Each camera can monitor and shoot a section in the first route, and the sum of all cameras can monitor the entire first route. It is understandable that, due to the large workload of coal transportation and the large number of transport vehicles, each transportation route includes at least two lanes to facilitate the transportation vehicles to travel, change lanes or turn around.

[0022] like Figure 1 As shown, the present invention provides a method for switching a coal transportation route, comprising:

[0023] Step S101, acquiring images collected by each camera at a preset frequency, wherein each camera is laid out in the first route at a preset interval.

[0024] In some embodiments, the preset frequency is any value of 1s, 2s, 3s, 4s, 5s, etc.

[0025] Step S102: Based on the images captured by the same camera, determine whether there is a prohibited obstacle in the road section of the first route corresponding to each camera. The first route includes multiple road sections, and each camera corresponds to one road section.

[0026] It is understandable that the prohibited obstacle represents an obstacle that the transporter cannot pass. Obstacles include people and objects, and objects include vehicles, garbage, fallen rocks, etc. In some embodiments, the camera includes a first camera, a second camera, and a third camera, and each camera captures 5 images. The 5 images captured by the first camera belong to the images captured by the same camera (i.e., the first camera); the 5 images captured by the second camera belong to the images captured by the same camera (i.e., the second camera); and the 5 images captured by the third camera belong to the images captured by the same camera (i.e., the third camera).

[0027] Step S103: If there is a prohibited obstacle in any section of the first route, the transport route is switched from the first route to the second route, and the transport vehicle is controlled to travel along the switched second route.

[0028] In some embodiments, the first route and the second route are two independent transport routes, that is, when the transport vehicle is in any transport route, it cannot switch to another transport route. Therefore, in this embodiment, before the transport vehicle enters the first route, the electronic device detects whether there is a prohibited obstacle in the first route. If there is a prohibited obstacle, the transport route is switched to the second route, and the transport vehicle is controlled to travel along the switched second route.

[0029] In other embodiments, the first route and the second route are not two independent transport routes, that is, there is at least one intersection between the first route and the second route, and the transport vehicle can switch between the first route and the second route through the intersection. Therefore, in this embodiment, when the transport vehicle enters the first route and does not reach any intersection, the electronic device detects whether there is a prohibited obstacle in the first route. If there is a prohibited obstacle, all intersections before the prohibited obstacle are used as target intersections. When the transport vehicle reaches any target intersection, the transport route is switched to the second route, and the transport vehicle is controlled to enter the second route through the target intersection and travel along the switched second route.

[0030] A method for switching coal transport routes provided by an embodiment of the present disclosure is adopted. By acquiring images collected by multiple cameras laid in a first route at a preset frequency, it is possible to know whether there are prohibited obstacles that transport vehicles cannot pass through in the road sections corresponding to each camera. If there is a prohibited obstacle in any road section, it means that the transport vehicle cannot pass through the road section where the prohibited obstacle is located, that is, when the transport route is the first route, the transport vehicle cannot completely pass through the transport route. In this way, when the transport vehicle cannot completely pass through the first route, the transport route is switched from the first route to the second route, and the transport vehicle is controlled to travel along the switched second route, so that the transport vehicle can transport the coal to the yard through the second route, so as to improve the efficiency of the transport vehicle in transporting coal.

[0031] Preferably, based on each image captured by the same camera, determining whether there is a no-entry obstacle in the road section of the first route corresponding to each camera includes: for each image captured by the same camera, selecting two images as the first target image and the second target image based on the capture time; comparing the first target image and the second target image captured by the same camera respectively to determine the change between the first target image and the second target image corresponding to each camera; and determining whether there is a no-entry obstacle in the road section corresponding to each camera based on the respective change conditions.

[0032] By comparing the changes between the first target image and the second image captured by the same camera at different times, if the changes are large, it means that there is a dynamically changing object between the first target image and the second target image; if the changes are small, it means that there may be a static object between the first target image and the second target image. In this way, based on the comparison between the first target image and the second target image captured by the same camera, it can be determined whether there are dynamically changing or static objects within the shooting range of the camera. If there are dynamically changing objects within the shooting range of the camera, it means that the road section corresponding to the camera can pass normally. If there are static objects within the shooting range of the camera, it means that there is a high probability of a prohibited obstacle in the road section corresponding to the camera, which will hinder the normal passage of the transport vehicle. In this way, it can be more accurately determined whether there are prohibited obstacles in the road sections corresponding to the shooting of each camera.

[0033] Further, for each image captured by the same camera, two images are selected as the first target image and the second target image based on the acquisition time, including: arranging each image captured by the same camera in descending order according to the acquisition time to obtain each image sequence. Each image sequence represents a set of images captured by a camera. Based on the acquisition time, two images are selected from each image sequence as the first target image and the second target image.

[0034] In this way, by arranging the images captured by the same camera in descending order according to the capture time, it is convenient to select the first target image and the second target image based on the capture time.

[0035] In some embodiments, the first target image is an image captured at the latest time, and the second target image is an image captured at a preset time interval before the first target image. The preset time interval is any value such as 2s, 4s, 6s, etc.

[0036] Preferably, the first target image and the second target image captured by the same camera are compared to determine the change between the first target image and the second target image corresponding to each camera, including: extracting the road section in each first target image as the first road section image, and extracting the road section in each second target image as the second road section image; calculating the first similarity between the first road section image and the second road section image corresponding to the same camera; and taking each first similarity as the change between the first target image and the second target image corresponding to the corresponding camera. Wherein, the first road section image and the second road section image both refer to the roads in the first route that the transport vehicle can actually pass.

[0037] Due to the limited shooting range of the camera, the images it collects will inevitably carry other buildings, people, etc. besides the road section. Therefore, by extracting the first road section image and the second road section image, other buildings besides the road section carried in the image can be eliminated, thereby reducing noise data and improving accuracy. By calculating the first similarity between the first road section image and the second road section image corresponding to the same camera, if the first similarity is low, it means that the change between the first road section image and the second road section image is large; if the first similarity is high, it means that the change between the first road section image and the second road section image is small. In this way, the change between the first target image and the second target image can be determined more accurately.

[0038] In some embodiments, respectively calculating the first similarity between the first road section image and the second road section image corresponding to the same camera includes: respectively calculating the first similarity between the first road section image and the second road section image corresponding to the same camera by a pixel comparison method. For example, subtracting the pixel value of each pixel position in the first road section image from the pixel value of the corresponding pixel position in the second road section image, and determining the average value of the difference of each pixel position, and determining the first similarity based on the average value of the difference.

[0039] In some other embodiments, respectively calculating the first similarity between the first road section image and the second road section image corresponding to the same camera includes: respectively calculating the first similarity between the first road section image and the second road section image corresponding to the same camera based on a structural similarity index (SSIM). For example, the brightness, contrast and structural similarity between the first road section image and the second road section image are obtained, the structural similarity index is determined based on the brightness, contrast and structural similarity, and the first similarity is determined based on the structural similarity.

[0040] Preferably, based on each change situation, it is determined whether there is a prohibited obstacle in the road section corresponding to each camera, including: determining a first similarity greater than a first preset similarity threshold as a first target similarity; inputting the target road section images corresponding to each first target similarity into a preset target detection model, respectively, to obtain obstacle information of each target road section image; wherein the target road section image is a first road section image or a second road section image; taking obstacle information that meets the preset obstacle condition as target obstacle information, and determining that there is a prohibited obstacle in the road section corresponding to the camera corresponding to the target obstacle information.

[0041] When the first similarity is greater than the first preset similarity threshold, it means that the first target image and the second target image corresponding to the first similarity are relatively similar, that is, there is a static object in the road section pointed to by the first target image and the second target image, and the object may be a prohibited obstacle that will hinder the normal passage of the transport vehicle. The target road section image is then detected by the preset target detection model to further determine the obstacle information of the static object, that is, the obstacle information. If the obstacle information meets the preset obstacle condition, it means that the object pointed to by the obstacle information will hinder the normal passage of the transport vehicle, and at this time the object is a prohibited obstacle. In this way, the first similarity is used to preliminarily determine whether there is a suspected prohibited obstacle in the road section, and then the preset target detection model is used to further detect the suspected prohibited obstacle, so that it can be more accurately determined whether there is a prohibited obstacle in the road section corresponding to each camera.

[0042] In some embodiments, the preset target detection model includes a YOLO (You Only Look Once) model or an SSD (Single Shot MultiBox Detector) model, etc.

[0043] Furthermore, the obstacle information includes the coordinates of the obstacle target frame. Obstacle information that meets the preset obstacle conditions is used as target obstacle information, including: obtaining the width of the transport vehicle and the width of the road section where the obstacle information is located, and using the difference between the road width and the vehicle width as the target width. Based on the coordinates of the obstacle target frame, the object width of the obstacle in the width direction of the road section is determined. The object width greater than the target width is used as the target object width, and the obstacle information corresponding to the target object width is used as the target obstacle information.

[0044] In this way, by comparing the object width of the obstacle in the road section width direction with the target width, the target obstacle information can be determined more accurately. At this time, satisfying the obstacle condition indicates that the value of the obstacle in the obstacle information along the road section width direction is greater than the target width.

[0045] In some embodiments, a plurality of rangefinders are also laid in the first route. Each rangefinder is laid at a preset interval, and the ranging range of all rangefinders can cover the entire first route. The rangefinder is used to measure the height of obstacles in the first route. For example, the rangefinder is laid on the street lights on the roads on both sides of the first route to detect the height of the obstacles from a high place downward. Although some obstacles are large in size, their height is low and will not prevent the transport vehicle from passing. Therefore, after determining that there is target obstacle information, the electronic device controls the rangefinder of the section where the target obstacle information is located to start working. When the rangefinder detects that the height of the obstacle in the target obstacle information exceeds the height that the transport vehicle can pass, it is determined that there is a prohibited obstacle in the section corresponding to the camera corresponding to the target obstacle information.

[0046] Preferably, the target road section images corresponding to each first target similarity are input into a preset target detection model to obtain obstacle information of each target road section image, including: calculating the second similarity between each target road section image and the corresponding preset road section image; taking the second similarity less than the second preset similarity threshold as the second target similarity; inputting the target road section images corresponding to each second target similarity into the preset target detection model to obtain obstacle information of each target road section image. The preset road section image represents the original image of the road section, and there is no person or object except the road.

[0047] By comparing the target road section image with the corresponding preset road section image, it is possible to determine whether the target road section image is the original image of the road section, that is, there are no people or objects in the target image except the road. If the second similarity is greater than or equal to the second preset similarity threshold, it means that the target road section image and the corresponding preset road section image are relatively similar, and the target road section image is the original image of the road section. If the second similarity is less than the second preset similarity threshold, it means that the target road section image and the corresponding preset road section image are not similar, and there is a static object in the target road section image, which may be a prohibited obstacle that will hinder the normal passage of the transport vehicle. The preset target detection model is then used to further detect the suspected prohibited obstacle, so that it can be more accurately determined whether there is a prohibited obstacle in the road section corresponding to the target road section image corresponding to the second target similarity.

[0048] Preferably, a method for switching a coal transport route further includes: when a transport vehicle is traveling along the transport route, using a radar of the transport vehicle to detect obstacles; when an obstacle is detected, obtaining the degree of congestion in the transport route where the transport vehicle is located and obtaining the change in the detection distance of the radar; and controlling the transport vehicle to avoid the obstacle based on the degree of congestion and the change in the detection distance. The transport route is the first route or the second route. The change in the detection distance represents the change in the distance between the transport vehicle and the obstacle in its forward direction.

[0049] When the radar of the transporter detects an obstacle, the obstacle may be a moving vehicle or a stationary object. At this time, the degree of congestion and the change in detection distance both affect the movement of the transporter. In this way, the transporter can be controlled to avoid obstacles based on the degree of congestion and the change in detection distance, and the obstacles can be avoided flexibly, ensuring the safety of the transporter when transporting coal.

[0050] In some embodiments, the degree of congestion is determined by obtaining the number of vehicles in the transport route where the transport vehicle is located. For example, the degree of congestion includes congestion and non-congestion. Through the positioning device set on each transport vehicle, each transport vehicle can be positioned to determine the number of vehicles in the transport route where the current transport vehicle is located. The detection distance change includes distance increase, distance unchanged, and distance decrease.

[0051] It is understandable that the transport route is the first route or the second route. In this embodiment, when there is no prohibited obstacle in the first route, the transport route is the first route. When there is at least one prohibited obstacle in the first route, the transport route is the second route.

[0052] Preferably, controlling the transport vehicle to avoid obstacles based on the degree of congestion and the change in detection distance includes: determining a fuzzy control strategy based on the degree of congestion and the change in detection distance; and controlling the transport vehicle to avoid obstacles based on the fuzzy control strategy. In this way, the degree of congestion and the change in detection distance are used as fuzzy control conditions to control the transport vehicle to avoid obstacles, so that the transport vehicle can flexibly avoid obstacles when traveling on the transport route, and the safety of the transport vehicle when transporting coal can be relatively safely ensured.

[0053] In some embodiments, the fuzzy control strategy includes: 1) If there is no crowding and the distance increases, accelerate until the distance remains unchanged. 2) If there is no crowding and the distance remains unchanged, maintain the vehicle speed. 3) If there is no crowding and the distance decreases, decelerate; if the distance still decreases after a preset interval, stop and execute a lane change strategy. 4) If there is crowding and the distance increases, maintain the vehicle speed. 5) If there is crowding and the distance remains unchanged, decelerate. 6) If there is crowding and the distance decreases, decelerate; if the distance still decreases, stop and execute a lane change strategy. In this embodiment, the traffic conditions of the left and right lanes can be determined by obtaining the number of transport vehicles in the left and right lanes of the transport vehicle, so that the lane with fewer transport vehicles, that is, the lane with better traffic conditions, is selected as the lane after the lane change.

[0054] Combination Figure 2 As shown, Figure 2A switching system for coal transport routes is provided, comprising: an acquisition module, a determination module and a switching module. The acquisition module is used to acquire images collected by each camera at a preset frequency; wherein each camera is laid in a first route at a preset interval; the determination module is used to determine whether there is a prohibited obstacle in the road section of the first route corresponding to each camera based on each image collected by the same camera; the switching module is used to switch the transport route from the first route to the second route if there is a prohibited obstacle in any road section, and control the transport vehicle to travel along the switched second route.

[0055] A switching system for coal transport routes provided by an embodiment of the present disclosure is used. By acquiring images collected by multiple cameras laid in a first route at a preset frequency, it is possible to know whether there are prohibited obstacles that transport vehicles cannot pass through in the road sections corresponding to each camera. If there is a prohibited obstacle in any road section, it means that the transport vehicle cannot pass through the road section where the prohibited obstacle is located, that is, when the transport route is the first route, the transport vehicle cannot completely pass through the transport route. In this way, when the transport vehicle cannot completely pass through the first route, the transport route is switched from the first route to the second route, and the transport vehicle is controlled to travel along the switched second route, so that the transport vehicle can transport the coal to the yard through the second route, so as to improve the efficiency of the transport vehicle in transporting coal.

[0056] Preferably, the determination module is specifically used to select two images as the first target image and the second target image based on the acquisition time for each image captured by the same camera; compare the first target image and the second target image captured by the same camera respectively to determine the changes between the first target image and the second target image corresponding to each camera; and determine whether there is a prohibited obstacle in the road section corresponding to each camera based on each change.

[0057] Preferably, the determination module is specifically used to extract the road sections in each first target image as the first road section image, and to extract the road sections in each second target image as the second road section image; respectively calculate the first similarities between the first road section image and the second road section image corresponding to the same camera; and use each first similarity as the change between the first target image and the second target image corresponding to the corresponding camera.

[0058] Preferably, the determination module is specifically used to determine a first similarity greater than a first preset similarity threshold as a first target similarity; input the target road section images corresponding to each first target similarity into a preset target detection model respectively to obtain obstacle information of each target road section image; wherein the target road section image is a first road section image or a second road section image; the obstacle information that meets the preset obstacle condition is used as the target obstacle information, and it is determined that there is a prohibited obstacle in the road section corresponding to the camera corresponding to the target obstacle information.

[0059] Preferably, the determination module is specifically used to respectively calculate the second similarity between each target road section image and the corresponding preset road section image; take the second similarity less than the second preset similarity threshold as the second target similarity; respectively input the target road section images corresponding to each second target similarity into the preset target detection model to obtain the obstacle information of each target road section image.

[0060] Preferably, a switching system for coal transport routes further includes: an avoidance module. The avoidance module is used to detect obstacles using the radar of the transport vehicle when the transport vehicle travels along the transport route; when an obstacle is detected, obtain the congestion level in the transport route where the transport vehicle is located and obtain the change of the detection distance of the radar; and control the transport vehicle to avoid the obstacle based on the congestion level and the change of the detection distance.

[0061] Preferably, the avoidance module is specifically used to determine a fuzzy control strategy based on the degree of congestion and changes in the detection distance; and control the transport vehicle to avoid obstacles based on the fuzzy control strategy.

[0062] A computing device according to an embodiment of the present invention includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, some or all steps of the above-mentioned method for switching coal transportation routes are implemented.

[0063] Among them, the computing device can be a computer, and correspondingly, its program is computer software. The above-mentioned parameters and steps in a computing device of the present invention can refer to the parameters and steps in an embodiment of a method for switching a coal transportation route in the above text, and will not be repeated here.

[0064] In an embodiment of the present invention, a computer-readable storage medium is provided, in which instructions are stored. When the instructions are executed, the steps of the above-mentioned method for switching a coal transportation route are executed.

[0065] The computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0066] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method of the embodiment of the present disclosure. The aforementioned computer-readable storage medium may be a non-transitory computer-readable storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes, or a transient computer-readable storage medium.

[0067] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code. Computer-readable storage media can be, for example, but not limited to - electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above.

[0068] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0069] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for switching a coal transportation route, characterized in that: include: Acquire images collected by each camera at a preset frequency; wherein each camera is laid out in the first route at a preset interval; Based on the images captured by the same camera, determining whether there is a prohibited obstacle in the road section of the first route corresponding to each camera; If there is a prohibited obstacle in any section of the first route, the transport route is switched from the first route to a second route, and the transport vehicle is controlled to travel along the switched second route.

2. The method according to claim 1, characterized in that The determining, based on the images captured by the same camera, whether there is a prohibited obstacle in the road section of the first route corresponding to each camera includes: For each image captured by the same camera, two images are selected as the first target image and the second target image based on the capture time; Compare the first target image and the second target image captured by the same camera respectively, and determine the change between the first target image and the second target image corresponding to each camera; Based on each of the changes, determine whether there is a prohibited obstacle in the road section corresponding to each camera.

3. The method according to claim 2, characterized in that The step of comparing the first target image and the second target image captured by the same camera respectively to determine the change between the first target image and the second target image corresponding to each camera includes: respectively extracting road sections in each of the first target images as first road section images, and respectively extracting road sections in each of the second target images as second road section images; respectively calculating a first similarity between a first road section image and a second road section image corresponding to the same camera; Each first similarity is used as a change between the first target image and the second target image corresponding to the corresponding camera.

4. The method according to claim 3, characterized in that The determining, based on each of the changes, whether there is a prohibited obstacle in the road section corresponding to each camera includes: Determine a first similarity greater than a first preset similarity threshold as a first target similarity; Inputting the target road section images corresponding to the first target similarities into a preset target detection model respectively to obtain obstacle information of each target road section image; wherein the target road section image is the first road section image or the second road section image; Obstacle information that meets the preset obstacle conditions is used as target obstacle information, and it is determined that a prohibited obstacle exists in a road section corresponding to a camera corresponding to the target obstacle information.

5. The method according to claim 4, characterized in that The step of inputting the target road section images corresponding to the first target similarities into a preset target detection model to obtain obstacle information of the target road section images includes: respectively calculating a second similarity between each of the target road section images and the corresponding preset road section image; Taking a second similarity less than a second preset similarity threshold as a second target similarity; The target road section images corresponding to each of the second target similarities are respectively input into a preset target detection model to obtain obstacle information of each of the target road section images.

6. The method according to claim 1, characterized in that Also includes: When the transport vehicle is traveling along the transport route, using the radar of the transport vehicle to detect obstacles; When an obstacle is detected, obtaining the degree of congestion in the transport route where the transport vehicle is located and obtaining the change in the detection distance of the radar; The transport vehicle is controlled to avoid the obstacle based on the congestion level and the change in the detection distance.

7. The method according to claim 6, characterized in that The controlling the transport vehicle to avoid the obstacle based on the congestion level and the change in the detection distance includes: Determining a fuzzy control strategy based on the congestion level and the change in the detection distance; The transport vehicle is controlled to avoid the obstacle based on the fuzzy control strategy.

8. A switching system for coal transportation routes, characterized in that: include: An acquisition module, used to acquire images collected by each camera at a preset frequency; wherein each camera is laid out in the first route at a preset interval; A determination module, used to determine whether there is a prohibited obstacle in the road section of the first route corresponding to each camera based on each image captured by the same camera; The switching module is used to switch the transport route from the first route to a second route if there is a prohibited obstacle in any of the road sections, and control the transport vehicle to travel along the switched second route.

9. A computing device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the steps of a method for switching a coal transportation route according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on the terminal device, the terminal device executes the steps of a method for switching a coal transportation route as described in any one of claims 1 to 7.

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