Mine laneway automatic driving navigation positioning correction method and system

Abstract

The invention provides a mine laneway automatic driving navigation positioning correction method and a mine laneway automatic driving navigation positioning correction system. The method comprises the steps that a roadway is divided into a plurality of roadway sections according to a plurality of signboard plates arranged in the roadway, and an infrared transmitter is arranged on at least one signboard plate; in the running process of the vehicle, the initial position of the vehicle is determined by fusing multi-sensor information; when the vehicle runs in the roadway section, identifying the signboard and storing and / or updating the signboard information, and determining the absolute position of the vehicle based on an infrared signal and the signboard information under the condition that the infrared signal is received when the vehicle passes through the position of the signboard; and correcting the initial position based on the absolute position to eliminate accumulated errors, and obtaining the real-time position of the vehicle. According to the invention, accumulative errors of a conventional positioning system can be eliminated, and more accurate positioning information is provided for vehicles in a mine laneway, so that the reliability of automatic driving is improved.

Description

Technical Field

[0001] The present invention relates to the field of tunnel positioning technology, and in particular to a mine tunnel automatic driving navigation positioning correction method and system. Background Art

[0002] Unmanned driving technology has made significant progress in scenarios such as expressways and urban roads. By integrating high-precision positioning methods such as the Global Navigation Satellite System (GNSS) and Real-Time Kinematics (RTK), relatively accurate positioning information has been achieved. However, in underground coal mines, due to the lack of GPS signals due to the deep burial depth, conventional satellite-based positioning methods such as GNSS and RTK cannot be used, which has become a significant problem with existing technologies. The particularity of the underground environment, such as the corridor effect and the scarcity of characteristic signals, makes it difficult for inertial navigation systems (INS) and wheel odometers to achieve accurate positioning. Although ultra-wideband (UWB) can theoretically achieve centimeter-level positioning, it is insufficient in dynamic positioning accuracy.

[0003] Existing technologies attempt to solve these problems through multi-sensor information fusion. For example, binocular vision can be combined with data fusion of laser radar, inertial navigation and wheel odometer to improve positioning accuracy. However, the depth estimation of binocular vision is not accurate, and is greatly affected by underground lighting, dust and vehicle speed, resulting in large positioning errors. At the same time, laser radar and wheel speed odometer also have performance degradation and error accumulation problems in underground environments. Laser road signs can also be arranged to assist in mapping. Although it can improve positioning accuracy to a certain extent, the tail tag needs to be detected to complete the optimization process, and in the harsh underground environment, the reflectivity of the tag will be severely reduced, affecting the positioning effect. Therefore, the existing technology has obvious deficiencies in underground unmanned driving positioning. The main problems include the lack of effective satellite signals, the limited performance of binocular vision and traditional sensors in underground environments, and the error accumulation and environmental adaptability of multi-sensor fusion systems. This shows that it is necessary to develop new technical solutions to overcome the limitations of existing technologies and provide more accurate and reliable underground unmanned driving positioning solutions. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a mine tunnel automatic driving navigation positioning correction method and system, which can eliminate the positioning cumulative error of the positioning system and provide more accurate positioning information for the automatic driving vehicle in the mine tunnel, thereby improving the reliability of automatic driving.

[0005] Specifically, the present invention is achieved through the following technical solutions: In a first aspect, the present invention provides a method for automatic driving navigation, positioning and correction in a mine tunnel, the method comprising: dividing the tunnel into multiple tunnel sections according to multiple signboards arranged in the tunnel, and setting an infrared transmitter at at least one signboard; during vehicle driving, determining the preliminary position of the vehicle by fusing multi-sensor information; when the vehicle is driving in the tunnel section, identifying the signboard and storing and / or updating the signboard information, and when the vehicle passes the position of the signboard and receives an infrared signal emitted by an infrared signal transmitter, determining the absolute position of the vehicle based on the infrared signal and the signboard information, wherein the signboard information includes the position information of the signboard; and correcting the preliminary position based on the absolute position to eliminate accumulated errors to obtain the real-time position of the vehicle.

[0006] Further, identifying the signboard and storing and / or updating the signboard information includes: identifying the signboard and storing and / or updating the signboard information by a camera arranged on the vehicle, wherein the camera is arranged at the center position of the top of the vehicle and is arranged to shoot forward.

[0007] Furthermore, determining the absolute position of the vehicle based on the infrared signal and the license plate information includes: when the distance difference between the vehicle odometer when the infrared signal is received and when it is recognized that the identification plate has moved out of the field of view of the camera is less than or equal to a preset threshold, determining that the infrared signal matches the license plate information and determining the absolute position of the vehicle based on the infrared signal and the license plate information; and when the distance difference is greater than the preset threshold, determining that the infrared signal does not match the license plate information and not determining the absolute position of the vehicle.

[0008] Further, the camera arranged on the vehicle identifies the identification sign and stores and / or updates the sign information, including: when the camera identifies the identification sign, identifies the sign information of the identification sign, and only when it is determined that the identification sign is a new sign based on the sign information, stores and / or updates the sign information.

[0009] Furthermore, identifying the identification plate and storing and / or updating the plate information further includes: storing the plate information in the memory of the vehicle-mounted system and / or updating the plate information in the memory of the vehicle-mounted system.

[0010] Furthermore, infrared receiving sensors are installed on both sides of the vehicle, and the infrared receiving sensors are installed at the center position of both sides of the vehicle. The installation height is the same as the installation height of the infrared transmitter in the tunnel, so that the vehicle can receive the infrared signal emitted by the infrared signal transmitter when traveling in both directions of entering and exiting the well.

[0011] Further, the length of the tunnel section is set according to the number of tunnel features in the tunnel section, and the length of the tunnel section is proportional to the number of the tunnel features.

[0012] Furthermore, the sign information on the front and back of the sign is the same.

[0013] Furthermore, the vehicle-mounted processor of the vehicle corrects the preliminary position based on the absolute position to eliminate accumulated errors, thereby obtaining the real-time position of the vehicle.

[0014] In a second aspect, the present invention provides a mine tunnel automatic driving navigation positioning correction system, the system comprising: a conventional positioning navigation unit, which determines the preliminary position of the vehicle by fusing multi-sensor information; A navigation positioning correction unit comprises a camera, an infrared receiving sensor, an infrared transmitting sensor, and an on-board processor, and is configured as follows: when a vehicle is traveling in a lane section, the camera installed on the vehicle identifies a signboard and stores and / or updates the signboard information; and when the vehicle passes the position of the signboard, the infrared receiving sensor installed on the side of the vehicle receives an infrared signal emitted by an infrared transmitter arranged at at least one signboard, and the absolute position of the vehicle is determined based on the infrared signal and the signboard information; and the on-board processor corrects the preliminary position based on the absolute position to eliminate accumulated errors and obtain the real-time position of the vehicle, wherein the signboard information includes the position information of the signboard, and the lane is divided into a plurality of lane sections by the signboard.

[0015] The present invention provides a method and system for automatic driving navigation positioning and correction in a mine tunnel. The method and system can obtain the preliminary positioning of the vehicle through a conventional positioning and navigation system, and can divide the tunnel into multiple tunnel sections through identification signs, obtain the absolute position of the vehicle based on each tunnel section, and then correct the preliminary position based on the absolute position, eliminating the cumulative error of the preliminary positioning of the conventional positioning system, and obtaining a more accurate real-time position of the vehicle. In this way, even if there is no satellite signal in the mine tunnel, the automatic driving vehicle can be accurately positioned, thereby improving the reliability of automatic driving of vehicles in mine tunnels.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 is a flow chart of a mine tunnel automatic driving navigation positioning correction method according to an embodiment of the present invention; Figure 2 is a schematic diagram of the installation position of the identification plate and the infrared signal transmitter in the lane according to an embodiment of the present invention; Figure 3 Schematic diagram of the installation positions of a camera and an infrared signal receiver on a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Figure 1 It is a flow chart of a mine tunnel automatic driving navigation positioning correction method according to an embodiment of the present invention.

[0021] Reference Figure 1According to an embodiment of the present invention, the mine tunnel automatic driving navigation positioning correction method may include: step S1, dividing the tunnel into multiple tunnel sections according to multiple signboards set in the tunnel, and setting an infrared transmitter at at least one signboard. Specifically, due to the corridor effect (CorridorEffect) in the narrow and long mine tunnel, the wireless signal propagation and positioning system performance are reduced. To this end, multiple signboards set in the tunnel can be used to divide the tunnel into multiple tunnel sections by the signboards. Generally, the length of the tunnel section can be different and is set according to the number of tunnel features in the tunnel section. For example, if there are enough features in some tunnel sections, the corridor effect is weak and the positioning error is small, then the division distance of the tunnel section is generally set to be longer, and if there are fewer tunnel features in the tunnel section and the positioning error is large, then the division distance of the tunnel section is generally set to be smaller (for example, set to a distance of 50 meters). When the number of tunnel features in a tunnel section is small and the corridor effect is strong, an infrared transmitter can be set in the tunnel section. In addition, an infrared transmitter must be set at the actual initial position, that is, the place where the vehicle enters the well (wellhead). In the navigation system, tunnel features refer to significant signs or environmental features inside the tunnel that can be used for positioning and navigation. These features can include the shape, structure, fixed facilities such as pipes, tracks, signboards on the wall, or any other objects or patterns that can be recognized and used by the sensor system. These features are crucial for the navigation of robots or autonomous vehicles because they can be used as reference points to help determine the position and direction of the vehicle in the tunnel.

[0022] The mine tunnel automatic driving navigation positioning correction method may further include: step S2, during the vehicle driving process, the initial position of the vehicle is determined by fusing multi-sensor information. For example, the initial position of the vehicle can be determined by fusing positioning information such as an inertial navigation system, a wheel odometer, a laser radar, and an ultra-wideband (UWB) positioning technology. Specifically, the initial position of the vehicle can be initially determined by a conventional navigation and positioning system, which can be composed of an inertial navigation system, a wheel odometer, a UWB positioning tag, and a laser radar. The conventional navigation and positioning system can use the fusion positioning of an inertial navigation system, a wheel odometer, a laser radar, and UWB positioning technology to determine the initial position of the vehicle.

[0023] The mine tunnel automatic driving navigation positioning correction method may further include: step S3, when the vehicle is traveling in the tunnel section, the identification plate is identified and the plate information is stored and / or updated, and when the vehicle passes the position of the identification plate, the infrared signal emitted by the infrared signal transmitter is received (as a position trigger condition), the absolute position of the vehicle is determined based on the infrared signal and the plate information, wherein the plate information includes the position information of the identification plate. Specifically, in the tunnel, each identification plate contains corresponding plate information, and the plate information includes the position information of the position where the identification plate is located. A camera is installed on the top of the trackless rubber-tyred vehicle body to identify the text information on the plate, and infrared receiving sensors are installed on both sides of the vehicle body to receive infrared signals. During the driving process of the vehicle, the camera on the top detects the identification plate in the tunnel in real time. When the identification plate is detected, the text information on the identification plate is identified, and the identification result (i.e., the plate information) is stored in the memory of the vehicle-mounted system. If the plate information has been stored in the previous memory, the plate information therein is updated to the newly identified plate information. Then, the vehicle continues to move forward. When passing the signboard, the infrared receiver on the vehicle can receive the infrared signal emitted by the infrared signal transmitter set at the signboard. At this time, the absolute position of the vehicle can be determined based on the infrared signal and the signboard information, that is, the actual position of the vehicle at this time is the position of the signboard.

[0024] In addition, in order to ensure that the infrared signal received by the vehicle matches the plate information in the vehicle system memory, that is, to ensure that the infrared signal transmitter that transmits the infrared signal is located at the same position as the signboard corresponding to the signboard information, a matching condition needs to be set. Since the distance traveled by the vehicle is within a certain distance range from the signboard moving out of the field of view of the camera to the vehicle receiving the infrared signal, a predetermined threshold can be set for the distance, and the predetermined threshold can be predetermined according to factors such as the height, length, shape, vehicle type and camera type of the lane section, or calibrated in advance according to practical experience. The camera can be calibrated in advance, and when the current signboard moves out of the field of view of the camera, the distance between the center of the vehicle and the infrared signal transmitter is set as the threshold condition with a certain margin. Specifically, for example, the camera can be calibrated, and when the signboard moves out of the field of view of the camera, the distance between the center of the vehicle and the infrared transmitter is 3 meters, and a safety margin of 0.5 meters is reserved, and the distance (3.5m) is converted into a wheel odometer encoder pulse value as a predetermined threshold. Therefore, after setting the predetermined threshold, it can be set that when the distance difference between the vehicle odometer when the infrared signal is received and when the license plate information is identified is less than or equal to the preset threshold, it is determined that the infrared signal matches the license plate information and the absolute position of the vehicle is determined based on the infrared signal and the license plate information; and when the distance difference is greater than the preset threshold, it is determined that the infrared signal does not match the license plate information, and the absolute position of the vehicle is not determined at this time.

[0025] In addition, the camera is arranged at the center of the top of the vehicle and is arranged to shoot forward, and the camera identifies the signboard and stores and / or updates the signboard information. Moreover, when the camera identifies the signboard, the signboard information of the signboard is identified, and the signboard information is stored and / or updated only when the signboard is determined to be a new signboard according to the signboard information. Then, the camera stores the signboard information in the memory of the vehicle-mounted system and / or updates the signboard information in the memory of the vehicle-mounted system.

[0026] The direction of the vehicle's movement may be the direction of entering the well or the direction of leaving the well. It is necessary to ensure that the signal emitted by the infrared signal transmitter at the signboard can be recognized in both directions. To this end, the front and back of the signboard are provided with signboard information, and the signboard information on the front and back is the same. In addition, infrared receiving sensors are installed on both sides of the vehicle, and the infrared receiving sensors are installed at the center of both sides of the vehicle. The installation height is the same as the installation height of the infrared transmitter in the tunnel, so that the vehicle can receive the infrared signal emitted by the infrared signal transmitter when traveling in both directions of entering and leaving the well. Figure 2 and Figure 3 shown.

[0027] The mine tunnel automatic driving navigation positioning correction method may further include: step S4, correcting the preliminary position based on the absolute position to eliminate the accumulated error, and obtaining the real-time position of the vehicle. Specifically, this step may be performed by the vehicle's on-board processor. The on-board processor can obtain the preliminary position and the absolute position determined by the conventional navigation positioning system, so the preliminary position can be corrected to eliminate the accumulated error, thereby obtaining the real-time position of the vehicle.

[0028] Figure 2 is a schematic diagram of the installation position of the identification plate and the infrared signal transmitter in the lane according to an embodiment of the present invention, Figure 3 Schematic diagram of the installation position of the camera and the infrared signal receiver on the vehicle according to an embodiment of the present invention. Figure 2 and Figure 3 , assuming that the fused positioning information in the conventional navigation and positioning system is 1485 meters in the auxiliary transport lane, and the actual position is 1490 meters. At this time, the vehicle recognizes the signboard with a mark of 1500 meters ahead, and stores the signboard identification information in the vehicle system. When the vehicle continues to move forward and does not recognize other signboard information before receiving the infrared signal, when the infrared sensor on the vehicle receives the infrared signal, the position in the system at this time is refreshed to 1500 meters. The wheel odometer records the pulse value when receiving the infrared sensor position as the 1500-meter position. The subsequent pulse count and this difference distance are the displacement relative to 1500 meters (the starting point of the stage), and the distance from the initial position can be obtained, thereby eliminating the cumulative error and obtaining the real-time position of the vehicle.

[0029] From the above, it can be seen that the present invention provides a method for automatic driving navigation positioning and correction in mine tunnels. The method can obtain the preliminary positioning of the vehicle through a conventional positioning and navigation system, and can divide the tunnel into multiple tunnel sections through signboards, and obtain the absolute position of the vehicle based on each tunnel section, and then correct the preliminary position based on the absolute position, eliminating the cumulative error of the preliminary positioning of the conventional positioning system, and obtaining a more accurate real-time position of the vehicle. In this way, even if there is no satellite signal in the mine tunnel, the automatic driving vehicle can be accurately positioned, thereby improving the reliability of automatic driving of vehicles in mine tunnels.

[0030] The present invention also provides a mine tunnel automatic driving navigation positioning correction system, the system comprising: a conventional positioning navigation unit, used to determine the preliminary position of the vehicle by fusing multi-sensor information, for example, by fusing the positioning information of an inertial navigation system, a wheel odometer, a laser radar and an ultra-wideband positioning technology to determine the preliminary position of the vehicle; and a navigation positioning correction unit, comprising a camera, an infrared receiving sensor, an infrared transmitting sensor, and an on-board processor, and configured as follows: when the vehicle is traveling in a tunnel section, the camera installed on the vehicle identifies the signboard and stores and / or updates the signboard information, and when the vehicle passes the position of the signboard, the infrared receiving sensor installed on the side of the vehicle receives an infrared signal emitted by an infrared transmitter set at at least one signboard, and the absolute position of the vehicle is determined based on the infrared signal and the signboard information; and the on-board processor corrects the preliminary position based on the absolute position to eliminate accumulated errors and obtain the real-time position of the vehicle, wherein the signboard information includes the position information of the signboard, and the tunnel is divided into multiple tunnel sections by the signboard.

[0031] In summary, the present invention provides a method and system for automatic driving navigation positioning and correction in mine tunnels. The method and system can obtain the preliminary positioning of the vehicle through a conventional positioning and navigation system, and can divide the tunnel into multiple tunnel sections through signboards, obtain the absolute position of the vehicle based on each tunnel section, and then correct the preliminary position based on the absolute position, eliminating the cumulative error of the preliminary positioning of the conventional positioning system, and obtaining a more accurate real-time position of the vehicle. In this way, even if there is no satellite signal in the mine tunnel, the automatic driving vehicle can be accurately positioned, thereby improving the reliability of automatic driving of vehicles in mine tunnels.

[0032] In addition, in the present invention, the description with reference to the terms "embodiment", "present embodiment", "another embodiment", 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 different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mine tunnel automatic driving navigation positioning correction method, characterized in that: include: Dividing the lane into a plurality of lane sections according to a plurality of signboards arranged in the lane, and arranging an infrared transmitter at at least one of the signboards; During the driving process of the vehicle, the preliminary position of the vehicle is determined by fusing multi-sensor information; When the vehicle is traveling in the lane section, an identification sign is identified and the sign information is stored and / or updated, and when the vehicle passes the position of the identification sign, an infrared signal emitted by an infrared signal transmitter is received, an absolute position of the vehicle is determined based on the infrared signal and the sign information, wherein the sign information includes the position information of the identification sign; as well as The preliminary position is corrected based on the absolute position to eliminate accumulated errors, thereby obtaining the real-time position of the vehicle.

2. The method according to claim 1, characterized in that: Identifying the signboard and storing and / or updating the signboard information includes: identifying the signboard and storing and / or updating the signboard information by a camera arranged on the vehicle, wherein the camera is arranged at the center of the top of the vehicle and is arranged to shoot forward.

3. The method according to claim 2, characterized in that Determining the absolute position of the vehicle based on the infrared signal and the license plate information includes: when the distance difference between the vehicle odometer when the infrared signal is received and when it is recognized that the identification plate has moved out of the field of view of the camera is less than or equal to a preset threshold, determining that the infrared signal matches the license plate information and determining the absolute position of the vehicle based on the infrared signal and the license plate information; and when the distance difference is greater than the preset threshold, determining that the infrared signal does not match the license plate information and determining the absolute position of the vehicle.

4. The method according to claim 2 or 3, characterized in that: The method of using a camera arranged on the vehicle to identify an identification sign and store and / or update the sign information includes: when the camera identifies the identification sign, identifying the sign information of the identification sign, and storing and / or updating the sign information only when it is determined that the identification sign is a new sign based on the sign information.

5. The method according to claim 4, characterized in that Identifying the identification plate and storing and / or updating the plate information further includes: storing the plate information in a memory of the onboard system and / or updating the plate information in the memory of the onboard system.

6. The method according to any one of claims 1 to 3, characterized in that Infrared receiving sensors are installed on both sides of the vehicle, and the infrared receiving sensors are installed at the center position of both sides of the vehicle. The installation height is the same as the installation height of the infrared transmitter in the tunnel, so that the vehicle can receive the infrared signal emitted by the infrared signal transmitter when traveling in both directions of entering and exiting the well.

7. The method according to claim 1, characterized in that The length of the tunnel section is set according to the number of tunnel features in the tunnel section, and the length of the tunnel section is proportional to the number of the tunnel features.

8. The method according to claim 1, characterized in that The plate information on the front and back of the identification plate is the same.

9. The method according to claim 1, characterized in that: The vehicle-mounted processor of the vehicle corrects the preliminary position based on the absolute position to eliminate accumulated errors, thereby obtaining the real-time position of the vehicle.

10. A mine tunnel automatic driving navigation positioning correction system, characterized in that: include: A conventional positioning and navigation unit, used to determine the preliminary position of the vehicle by fusing multi-sensor information; A navigation positioning correction unit comprises a camera, an infrared receiving sensor, an infrared transmitting sensor, and an on-board processor, and is configured as follows: when a vehicle is traveling in a lane section, the camera installed on the vehicle identifies a signboard and stores and / or updates the signboard information; and when the vehicle passes the position of the signboard, the infrared receiving sensor installed on the side of the vehicle receives an infrared signal emitted by an infrared transmitter arranged at at least one signboard, and the absolute position of the vehicle is determined based on the infrared signal and the signboard information; and the on-board processor corrects the preliminary position based on the absolute position to eliminate accumulated errors and obtain the real-time position of the vehicle, wherein the signboard information includes the position information of the signboard, and the lane is divided into a plurality of lane sections by the signboard.

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