Underground coal mine positioning and navigation system and method

Abstract

The invention discloses an underground coal mine positioning and navigation system and method. The system comprises a visual sensor, two laser distance measuring sensors, a speedometer, a communication module, a fixed frame, a plurality of road signboards and a calculation and display module, wherein the visual sensor is used for performing visual perception on the surrounding environment and measuring the distance between the visual sensor and a surrounding obstacle; the laser distance measuring sensor is used for measuring the distance between the two side laneways; the speedometer is used for monitoring the moving distances of the system in different directions, and the communication module is used for transmitting various measurement data to the calculation and display module; the plurality of road signboards are respectively arranged at different target positions of a roadway and are used for marking vehicle positions and performing navigation prompt; and the calculation and display module is used for calculating the measurement data and determining and displaying a positioning navigation result. According to the system, underground coal mine positioning and navigation are carried out in a human-like navigation mode, the positioning precision of underground equipment is improved, and the positioning cost is reduced.

Description

Technical Field

[0001] This application relates to the field of underground intelligent navigation technology, and particularly relates to a positioning and navigation system and method for coal mines underground. Background Art

[0002] At present, the accurate positioning of personnel and vehicles is the basis for the construction of intelligent coal mines and a key link for realizing intelligent control underground such as driverless transport vehicles.

[0003] In related technologies, when performing underground navigation and positioning, due to the intricate underground coal mine roadways and the difficulty in using traditional positioning and navigation technologies such as Beidou satellites underground, generally, a large number of wireless positioning base stations are deployed in the underground roadways, and a positioning and navigation device is installed on each vehicle to perform positioning and navigation on the vehicle using the base stations.

[0004] However, affected by factors such as the underground enclosed space and harsh environment, the positioning accuracy of the positioning solutions in the above-mentioned related technologies is low, and a large number of base stations need to be deployed, resulting in a high positioning cost, which restricts the process of intelligent coal mine construction. Summary of the Invention

[0005] The purpose of this application is to solve at least one of the above technical problems to some extent.

[0006] To this end, the first purpose of this application is to propose a positioning and navigation system for coal mines underground. This system uses a human-like navigation method for positioning and navigation in coal mines underground, improves the positioning accuracy of underground equipment, greatly reduces the number of underground base stations deployed, and reduces the positioning cost.

[0007] The second purpose of this application is to propose a positioning and navigation method for coal mines underground.

[0008] The third purpose of this application is to propose an electronic device.

[0009] The fourth purpose of this application is to propose a non-transitory computer-readable storage medium.

[0010] To achieve the above object, an embodiment of the first aspect of this application proposes a positioning and navigation system for coal mines underground, which includes: a vision sensor, two laser range sensors, an odometer, a communication module, a fixed frame, a plurality of road signs, and a calculation and display module; where

[0011] The vision sensor is fixedly arranged at the upper end of the fixed frame, and the vision sensor is used for visually perceiving the surrounding environment and measuring the distance between the vehicle where it is located and the surrounding obstacles;

[0012] The two laser ranging sensors are respectively arranged on both sides of the fixed frame, and the two laser ranging sensors are used to measure the distances between the positioning and navigation system and the roadway sides of the roadway;

[0013] The odometer and the communication module are arranged inside the fixed frame. The odometer is used to monitor the distances that the positioning and navigation system moves in different directions, and the communication module is used to transmit the measurement data of the vision sensor, the laser ranging sensors, and the odometer to the calculation and display module;

[0014] The fixed frame is used to fix the positioning and navigation system on the vehicle. The multiple road signs are respectively arranged at different target positions in the underground roadway. Among them, the target positions are the relevant positions for changing the vehicle driving route. The multiple road signs display the road information corresponding to different target positions, and the multiple road signs are used to identify the vehicle position and give navigation prompts;

[0015] The calculation and display module is used to calculate the measurement data, and determine and display the positioning result and the navigation result.

[0016] In addition, the underground coal mine positioning and navigation system of the embodiment of the present application further has the following additional technical features:

[0017] Optionally, in some embodiments, the calculation and display module is fixedly arranged in the vehicle cockpit, and the calculation and display module is connected to the communication module through wireless or wired communication means.

[0018] Optionally, in some embodiments, the calculation and display module includes: a Beidou positioning unit, and the Beidou positioning unit is used to perform vehicle positioning during the vehicle's ground travel, and send the initial position of the vehicle to the calculation and display module when the vehicle enters the underground mine.

[0019] Optionally, in some embodiments, the vision sensor includes a panoramic camera, and the vision sensor is specifically used to: based on the images collected by the panoramic camera, measure the distances between the vehicle and surrounding obstacles through machine vision algorithms.

[0020] To achieve the above object, a second aspect embodiment of the present invention proposes an underground coal mine positioning and navigation method, which is applied to the underground coal mine positioning and navigation system of the first aspect above. The method includes:

[0021] Combining various layout information of the underground coal mine roadway and the position information of multiple road signs, draw a roadway map, and load the roadway map into the calculation and display module;

[0022] Set the underground coal mine positioning and navigation system on a vehicle and start the system.

[0023] Determine a driving route in the roadway map based on the initial position of the vehicle and the driving destination received by the calculation and display module, and perform vehicle navigation according to the driving route and the machine vision perception data collected by the vision sensor.

[0024] During the driving process of the vehicle, identify the current road sign through the vision sensor, combine the vision recognition result with various measurement data obtained by the underground coal mine positioning and navigation system to position the vehicle, and use the vision recognition result to determine whether to update the navigation route.

[0025] In addition, the underground coal mine positioning and navigation method of the embodiment of the present application further has the following additional technical features:

[0026] Optionally, in some embodiments, the vision recognition result includes the distance between the vehicle and the current road sign measured based on machine vision measurement technology. The combining the vision recognition result with various measurement data obtained by the underground coal mine positioning and navigation system to position the vehicle includes: monitoring the driving distance of the vehicle through an odometer, matching the driving distance with the driving route, and displaying the preliminary position of the vehicle in the roadway map according to the matching result; combining the distance between the vehicle and the current road sign and the distance between the vehicle and the roadway sides of the two sides of the roadway measured by a laser range finder, calibrating the preliminary position through a spatial position relationship, and taking the calibrated vehicle position as the real-time positioning position of the vehicle.

[0027] Optionally, in some embodiments, after starting the underground coal mine positioning and navigation system, it further includes: positioning the vehicle through a Beidou positioning unit during the driving process of the vehicle on the ground; when the vehicle enters the underground mine, switching the Beidou positioning unit to the underground coal mine positioning and navigation system to perform vehicle positioning and navigation.

[0028] Optionally, in some embodiments, the vision recognition result further includes the road information of each subsequent road shown on the current road sign. The using the vision recognition result to determine whether to update the navigation information includes: combining the road information of each subsequent road and the driving route to determine whether it is possible to drive from the real-time positioning position to the destination to obtain a judgment result; judging whether to adjust the driving route according to the judgment result and the current road conditions ahead; in the case where the driving route needs to be adjusted, re-planning the subsequent navigation route according to the road information of each subsequent road and the destination.

[0029] To achieve the above object, an embodiment of the third aspect of the present invention provides an electronic device, including:

[0030] A processor;

[0031] A memory for storing executable instructions of the processor;

[0032] Wherein, the processor is configured to execute the instructions to implement the coal mine underground positioning and navigation method as described in any one of the embodiments of the second aspect above.

[0033] To achieve the above object, an embodiment of the fourth aspect of the present invention provides a non - transitory computer - readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the coal mine underground positioning and navigation method as described in any one of the embodiments of the second aspect above.

[0034] The technical solutions provided by the embodiments of the present application at least bring the following beneficial effects:

[0035] The present application uses a human - like navigation method for positioning and navigation in coal mines. By simulating the principle of humans using markers for positioning and navigation in a familiar environment, it realizes vehicle positioning and navigation in an underground closed environment. By simulating humans' recognition of roads and directions, it can avoid setting positioning base stations. Moreover, the present application comprehensively utilizes visual perception data, laser ranging data, and driving mileage data, uses road signs to mark the vehicle position, and can reduce the positioning error and improve the accuracy of vehicle positioning and navigation through calibration by combining multiple data. Thus, the present application improves the accuracy of underground equipment positioning, greatly reduces the number of base stations deployed in underground roadways, and reduces the positioning cost.

[0036] The additional aspects and advantages of the present application will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above - mentioned and / or additional aspects and advantages of the present application will become obvious and easy to understand from the following description of the embodiments in conjunction with the drawings, where:

[0038] Figure 1 is a schematic structural diagram of a coal mine underground positioning and navigation system proposed by an embodiment of the present application;

[0039] Figure 2 is a schematic diagram of a scenario for vehicle positioning and navigation during underground driving proposed by an embodiment of the present application;

[0040] Figure 3 is a flowchart of a coal mine underground positioning and navigation method proposed by an embodiment of the present application;

[0041] Figure 4 This is a flowchart of a method for updating a navigation route proposed in an embodiment of the present application. Detailed implementation manners

[0042] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and should not be construed as a limitation to the present application.

[0043] The coal mine underground positioning and navigation system and method according to the embodiments of the present application will be described below with reference to the accompanying drawings.

[0044] Figure 1 This is a schematic structural diagram of a coal mine underground positioning and navigation system proposed in an embodiment of the present application. Figure 2 This is a schematic diagram of a scenario for positioning and navigation during the driving of a vehicle underground in an embodiment of the present application. As Figure 1 and Figure 2 shown, the system includes: a vision sensor 1, two laser range sensors 2, an odometer 3, a communication module 4, a fixed frame 5, a plurality of road signs 6, and a calculation and display module 7.

[0045] Among them, as Figure 1 shown, the vision sensor 1 is fixedly arranged at the upper end of the fixed frame 5. The vision sensor 1 is used to perform visual perception of the surrounding environment and measure the distance between the vehicle and surrounding obstacles.

[0046] In an embodiment of the present application, the vision sensor 1 includes a panoramic camera. Specifically, the vision sensor is used to: based on the images collected by the panoramic camera, measure the distance between the vehicle and surrounding obstacles through machine vision algorithms.

[0047] Specifically, in this embodiment, a panoramic camera is built into the vision sensor 1. The camera can rotate 360° to collect surrounding image or video data, and the vision sensor 1 also has a built-in machine vision algorithm. By running operations on the collected image data, it can not only perform visual perception of the surrounding environment but also perform distance measurement. Among them, through visual perception, environmental information such as obstacles existing around the sensor, the roadway conditions, and the road signs 6 at the current position can be identified. Furthermore, the distance between the vehicle where the positioning and navigation system is located and each of the surrounding obstacles perceived can be measured.

[0048] As a possible implementation, during the process of using machine vision algorithms for recognition and measurement, the collected images can be preprocessed first to improve the image quality and the accuracy of subsequent processing. Then, feature extraction is performed to extract useful features from the preprocessed images, such as the edges, contours, shapes, sizes, and colors of various obstacles. Corresponding algorithms can be used for specific feature extraction. For example, the contour of an object can be extracted through an edge detection algorithm for subsequent measurement. Then, target positioning is carried out to determine the position of the object to be measured in the image for precise measurement. Finally, size measurement and distance measurement are performed. Based on the positioning results and feature data, first, the size parameters of the object are calculated according to the extracted features, and then, based on the positional relationship between objects and the parameters of the objects (such as length and angle, etc.), the distances between different objects are calculated through relevant distance algorithms.

[0049] Two laser range sensors 2 are respectively arranged on both sides of the fixed frame 5, and the two laser range sensors 2 are used to measure the distances between the positioning and navigation system and the roadway sides on both sides of the roadway.

[0050] The odometer 3 and the communication module 4 are arranged inside the fixed frame 5. The odometer 3 is used to monitor the distances that the positioning and navigation system moves in different directions. For example, after the vehicle travels, the odometer 3 can measure the moving distances of the positioning and navigation system in the forward, backward, and other directions respectively.

[0051] The communication module 4 is used to transmit the measurement data of the vision sensor 1, the laser range sensors 2, and the odometer 3 to the calculation and display module 7. Specifically, the communication module 4 uniformly sends the visual perception data and distance data collected by the vision sensor 1, the distance data between the laser range sensors 2 and the roadway sides on both sides of the roadway, and the driving mileage data recorded by the odometer 3 to the calculation and display module 7 for subsequent operations. The calculation and display module 7 can be connected to the communication module through wireless or wired communication methods, and the specific communication method selected can be determined according to the actual situation underground.

[0052] The fixed frame 5 is used to fix the positioning and navigation system on the vehicle so that the above-mentioned various devices in the positioning and navigation system can perform relevant data measurements. For example, as Figure 2 shown, the positioning and navigation system 10 can be fixed above the transport vehicle 20, or the positioning and navigation system 10 can also be fixed at the front end of the transport vehicle 20 and other positions convenient for data measurement. It can be understood that since the position of the positioning and navigation system 10 is fixed on the vehicle and the relative positions of the various measurement devices in the system with respect to the vehicle are determined, the distances between the transport vehicle 20 and the obstacles can be obtained based on the distances between the various measurement devices and the obstacles measured by themselves.

[0053] Multiple road signs 60 are respectively arranged at different target positions in the underground roadway. Among them, the target position is a relevant position for changing the vehicle driving route. The multiple road signs display the road information corresponding to different target positions, and the multiple road signs are used to identify the vehicle position and give navigation prompts.

[0054] Specifically, the target position is a specific position in the underground roadway related to changing the vehicle driving state. For example, the target position can be a roadway intersection (such as the T-junction in Figure 2 ), or a roadway turning point, etc. The content displayed by the road signs 6 arranged at different positions is significantly different, and each road sign 6 only displays the road information corresponding to its own position. Among them, the road information includes the names of each road after the target position, the locations that each road can lead to, and the distances to each location, etc. Since the visual sensor 1 of the present application can perform visual perception on the surrounding environment, through the visual sensor 1, the content displayed by each road sign 6 encountered when the vehicle travels to different positions can be obtained, so that the vehicle can be identified according to different road signs 6, and navigation prompts can be given by using the content displayed by the road signs 6.

[0055] The calculation and display module 7 is used to calculate the measurement data, determine and display the positioning result and the navigation result.

[0056] Specifically, the calculation and display module 7 calculates various measurement data sent by the communication module 4, including calculating various information measured by the visual sensor 1, the laser range finder 2 and the odometer 3, positioning the current position of the vehicle, and showing the positioning result and navigation information to the user.

[0057] In an embodiment of the present application, the calculation and display module 7 is fixedly arranged in the vehicle cockpit. Through the positioning result and navigation result displayed by the calculation and display module 7, the user can quickly and intuitively understand the current position of the vehicle in the cockpit and perform navigation during the user's driving process.

[0058] In an embodiment of the present application, the calculation and display module 7 includes: a Beidou positioning unit. The Beidou positioning unit is used to perform vehicle positioning during the vehicle's driving on the ground and send the initial position of the vehicle to the calculation and display module when the vehicle enters the underground mine. Specifically, the Beidou positioning unit is integrated in the calculation and display module 7. When the vehicle has not yet traveled underground, the vehicle is positioned by the Beidou positioning technology in the related technology on the ground, which can perform vehicle positioning more conveniently and accurately. When the vehicle enters the underground mine and the Beidou positioning unit cannot work, the last positioned position is sent to the calculation and display module 7 as the initial position of the vehicle during its underground driving.

[0059] It should be noted that the present application uses visual sensors to simulate human eyes to perform positioning and navigation in an underground environment by relying on the content displayed on road signs observed. The specific implementation principle will be described in detail in the subsequent method embodiments.

[0060] In summary, the underground coal mine positioning and navigation system of the embodiment of the present application adopts a human-like navigation method to perform positioning and navigation in the coal mine. By simulating the principle of humans using signs to perform positioning and navigation in a familiar environment, it realizes the positioning and navigation of vehicles in a closed underground environment. By simulating humans to identify roads and directions, it is possible to avoid setting up positioning base stations. In addition, the system comprehensively utilizes visual perception data, laser ranging data, and mileage data, and uses road signs to identify the vehicle position. By combining multiple data for calibration, it can reduce positioning errors and improve the accuracy of vehicle positioning and navigation. As a result, the system improves the accuracy of underground equipment positioning, greatly reduces the number of base stations deployed in underground tunnels, and reduces positioning costs.

[0061] In order to more clearly explain the specific implementation process of controlling the underground coal mine positioning and navigation system to realize the positioning and navigation of the vehicle, a coal mine underground positioning and navigation method proposed in the embodiment of this application is described in detail below. The method is applied to the underground coal mine positioning and navigation system in the above embodiment, that is, the method of this embodiment is realized by performing relevant control on the underground coal mine positioning and navigation system in the above embodiment. The various devices involved in the method are as described in the above embodiment, and will not be repeated here.

[0062] Figure 3 This is a flow chart of a method for positioning and navigating in an underground coal mine proposed in an embodiment of the present application, such as Figure 3 As shown, the method comprises the following steps:

[0063] Step S101: Drawing a tunnel map based on various layout information of underground tunnels in the coal mine and location information of multiple road signs, and loading the tunnel map into a calculation and display module.

[0064] Specifically, according to the layout information of the layers, directions and lengths of each tunnel in the coal mine, as well as the known underground tunnel geographic information such as the locations of multiple road signs, a tunnel map is drawn through relevant geographic information software. For example, the tunnel map can be a three-dimensional map, in which each tunnel can be displayed at a certain scale according to the actual situation of the underground tunnel. Then the tunnel map is loaded into the calculation and display module for subsequent navigation.

[0065] For example, according to the difference in content displayed on the road signboards 6 at different layout positions, they are marked in the lane map, so as to navigate and locate the transport vehicle.

[0066] Step S102: Install the underground coal mine positioning and navigation system on the vehicle and start the underground coal mine positioning and navigation system.

[0067] Specifically, when installing the positioning and navigation system on the vehicle, it can be installed according to the installation methods required for each module to work in the above embodiments. Fix multiple modules in the positioning and navigation system above the transport vehicle through a fixing frame, and install the calculation and display module in the cab of the transport vehicle.

[0068] Further, after the vehicle starts to move, start the underground coal mine positioning and navigation system to start navigating the vehicle.

[0069] In an embodiment of the present application, after starting the underground coal mine positioning and navigation system, it further includes: when the vehicle is moving on the ground, positioning the vehicle through the Beidou positioning unit; when the vehicle enters the underground mine, switch the Beidou positioning unit to the underground coal mine positioning and navigation system to position and navigate the vehicle.

[0070] Specifically, in this embodiment, in order to facilitate the effective connection between ground and underground positioning and navigation, the Beidou positioning module built into the calculation and display module is used for initial positioning on the ground. After starting the positioning and navigation device, the transport vehicle mainly uses the Beidou positioning module when moving on the ground, and when entering the underground, the Beidou positioning is switched to the positioning and navigation system proposed in this application for positioning and navigation. For example, taking the wellhead position as the initial point, when the transport vehicle travels to the wellhead position, turn off the Beidou navigation and enable each module in the positioning and navigation device proposed in this application, then the calculation and display module starts to calculate and process the information collected by the vision sensor, laser range finder, and odometer. Before turning off the Beidou navigation unit, use the positioning information finally transmitted by the Beidou navigation unit as the initial position for underground travel.

[0071] Step S103: Determine the driving route in the roadway map according to the initial position of the vehicle and the driving destination received by the calculation and display module, and perform vehicle navigation according to the driving route and the machine vision perception data collected by the vision sensor.

[0072] Specifically, input the driving destination of the vehicle into the calculation and display module, and according to the initial position and the destination in the pre-implanted roadway map, calculate and determine a suitable driving route through a matching algorithm, and perform positioning and navigation according to the driving route. Further, during the process of driving along the driving route, use the machine vision perception data collected by the vision sensor to navigate the real-time driving process of the vehicle, for example, prompt the user to avoid obstacles.

[0073] As a possible implementation, during the driving of a transport vehicle, a vision sensor is used to visually recognize the environment around the vehicle, and machine vision measurement technology is utilized to measure the distance between the vehicle and surrounding obstacles, simulating the way humans recognize the surrounding environment through their eyes during movement. According to the recognition results of the vision sensor, various navigation information such as obstacle avoidance reminders and slow down warnings are sent to the user. Among them, a laser distance sensor can also be used to monitor the distance between the transport vehicle and the roadway sides of the roadway, compensating for the relatively low measurement accuracy of machine vision. An odometer can also be used to monitor the driving distance of the transport vehicle, and the position of the transport vehicle can be displayed in real time on the three-dimensional roadway map shown in the calculation and display module, so that the user can timely understand the vehicle's positioning information.

[0074] Step S104: During the driving of the vehicle, the current road sign is recognized by a vision sensor. Combining the vision recognition result and various measurement data obtained by the underground coal mine positioning and navigation system, the vehicle is positioned, and it is determined whether to update the navigation route using the vision recognition result.

[0075] Specifically, the road signs at different preset positions in the underground roadway are visually recognized by a vision sensor, and the real-time position of the vehicle is calibrated and navigated based on the vision recognition result and the data measured by other modules. Among them, in case of special situations, the navigation route can also be updated with the help of the vision recognition result.

[0076] In an embodiment of the present application, the vision recognition result includes the distance between the vehicle and the current road sign measured based on machine vision measurement technology. Combining the vision recognition result and various measurement data obtained by the underground coal mine positioning and navigation system to position the vehicle includes: monitoring the driving distance of the vehicle through an odometer, matching the driving distance with the driving route, and displaying the preliminary position of the vehicle in the roadway map according to the matching result; combining the distance between the vehicle and the current road sign and the distance between the vehicle and the roadway sides of the roadway measured by the laser distance sensor, calibrating the preliminary position through the spatial position relationship, and taking the calibrated vehicle position as the real-time positioning position of the vehicle.

[0077] For example, such as Figure 2As shown in the figure, when the transport vehicle 20 travels to a preset road sign 6 in the roadway according to the driving route information in the map displayed by the calculation and display module, the visual sensor identifies the road sign 6, and measures the distance from the transport vehicle to the road sign 6 through machine vision measurement technology. Then, the distance between the transport vehicle and the two side walls of the roadway is measured by the laser range finder 2, and the actual position of the vehicle can be determined through the spatial position relationship algorithm. This position is used to calibrate the initial position of the vehicle, so as to make up for the problem of cumulative positioning error in positioning the vehicle position through the odometer 3. The calibrated position is used as the finally determined real-time positioning position of the vehicle.

[0078] It can be understood that after the length of the driving route and the current driving distance are determined, substituting the driving distance into the driving route can determine the current position in the driving route, and then display the preliminary position of the vehicle in the three-dimensional map. However, due to factors such as equipment measurement errors, this preliminary position may not be accurate. Therefore, combining the ranging information of each module, the actual position of the vehicle can be located through the actual spatial position relationship, so as to perform positioning calibration.

[0079] Based on the above embodiments, in some special cases, for example, the driver fails to drive according to the original driving route due to an operation error, resulting in driving to an unexpected intersection. Another example is that due to a long distance to the destination or incorrect known data, the initially determined driving route is inaccurate. In these cases, it is impossible to correctly navigate the user according to the initially determined driving route. To ensure that the user can drive to the destination, the present application can also use the visual recognition result of the current road sign to judge whether the current navigation route is correct and determine whether to update the navigation route.

[0080] To more clearly illustrate the specific implementation process of updating the navigation route in the present application, an update method of a navigation route proposed in an embodiment of the present application will be used for exemplary illustration below. Figure 4 It is a flowchart of an update method of a navigation route proposed in an embodiment of the present application. As Figure 4 shown, the method includes the following steps:

[0081] Step S401, combine the road information and driving route of each subsequent road to judge whether it is possible to drive from the real-time positioning position to the destination, and obtain a judgment result.

[0082] Specifically, the visual recognition result in this embodiment also includes the road information of each subsequent road displayed by the current road sign. Among them, the road information of each subsequent road includes the destinations that each road behind the road sign leads to. For example, Figure 2The content shown on the road sign 6 includes: the hydraulic pump station reached by driving 200 meters along the left-turn road, and the underground centralized control center reached by driving 300 meters along the right-turn road. Furthermore, through visual recognition by the visual sensor, the above information is obtained. Furthermore, the road information of each subsequent road is matched with the determined driving route to determine whether each subsequent road can reach the destination of the driving route. For example, search whether there is the remaining road in the determined driving route among the subsequent roads shown on the road sign.

[0083] Step S402: According to the judgment result and the real-time road conditions ahead, judge whether to adjust the driving route.

[0084] Specifically, if the judgment result is that it can reach the destination of the determined driving route, the driving route may not be adjusted. If the judgment result is that it cannot reach the destination, the driving route needs to be adjusted. Among them, when judging whether to adjust the driving route, the real-time road conditions ahead can also be combined for judgment. For example, if it is known from the message sent by the centralized control center that the preset route is blocked or there is a safety accident, the driving route can be adjusted.

[0085] Step S403: In the case of needing to adjust the driving route, re-plan the subsequent navigation route according to the road information of each subsequent road and the destination.

[0086] Specifically, according to the road information of each subsequent road obtained by visual recognition by the current visual sensor and the destination of the vehicle driving, re-plan the subsequent driving route, and display the re-planned route in the calculation and display module to navigate the driver.

[0087] Among them, when re-planning the subsequent navigation route, the constructed roadway map can be used to formulate the re-planned navigation route according to the road information at the current target position and each subsequent target position. Continuing to refer to the above example, assume Figure 2 there is no road to the coal mining face in the content shown on the road sign 6, but at the intersection where the hydraulic pump station is reached by driving 200 meters along the left-turn road, there is a road that can reach the coal mining face. Then, use the content shown on the road sign at the hydraulic pump station to re-plan the navigation route. Thus, this example can perform navigation when the user does not know the subsequent roads.

[0088] In summary, the underground coal mine positioning and navigation method implemented in this application uses a humanoid navigation method for positioning and navigation in underground coal mines. By simulating the principle of humans using signs for positioning and navigation in a familiar environment, it realizes the positioning and navigation of vehicles in an underground closed environment. By simulating humans' recognition of roads and directions, it is possible to avoid setting up positioning base stations. Moreover, this method comprehensively utilizes visual perception data, laser ranging data, and driving mileage data, uses road signs to mark the vehicle's position, and can reduce the positioning error and improve the accuracy of vehicle positioning and navigation through calibration by combining multiple data. Thus, this method improves the accuracy of underground equipment positioning, significantly reduces the number of base stations deployed in underground roadways, and reduces the positioning cost.

[0089] To implement the above embodiments, the present application also proposes an electronic device, which includes: a processor; a memory for storing instructions executable by the processor; wherein, the processor is configured to execute the instructions to implement the underground coal mine positioning and navigation method described in any one of the embodiments in the second aspect above.

[0090] To implement the above embodiments, the present application also proposes a non-temporary computer-readable storage medium storing a computer program, which when executed by a processor, implements the underground coal mine positioning and navigation method described in any one of the embodiments in the second aspect of the present application.

[0091] It should be noted that it should be understood that each part of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following well-known technologies in the art can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits with appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0092] In addition, in the description of the present application, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0093] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0094] In the present invention, unless otherwise clearly defined and limited, terms such as "mounted", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0095] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0096] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A coal mine underground positioning and navigation system, characterized in that: include: Visual sensor, two laser distance sensors, odometer, communication module, fixed frame, multiple road signs and calculation and display module; among them, The visual sensor is fixedly arranged at the upper end of the fixing frame, and is used for visually perceiving the surrounding environment and measuring the distance between the vehicle and surrounding obstacles; The two laser distance measuring sensors are respectively arranged on both sides of the fixing frame, and the two laser distance measuring sensors are used to measure the distance between the positioning navigation system and the sidewalls on both sides of the lane; The odometer and the communication module are arranged inside the fixed frame, the odometer is used to monitor the distance moved by the positioning and navigation system in different directions, and the communication module is used to transmit the measurement data of the visual sensor, the laser ranging sensor and the odometer to the calculation and display module; The fixing frame is used to fix the positioning and navigation system on the vehicle, and the multiple road signs are respectively arranged at different target positions in the underground tunnel, wherein the target position is a relevant position for changing the driving road of the vehicle, and the multiple road signs display the road information corresponding to the different target positions, and the multiple road signs are used to identify the vehicle position and provide navigation prompts; The calculation and display module is used to calculate the measurement data, determine and display the positioning result and navigation result.

2. The underground coal mine positioning and navigation system according to claim 1, characterized in that: The computing and display module is fixedly arranged in the vehicle cockpit, and is connected to the communication module via wireless or wired communication.

3. The underground coal mine positioning and navigation system according to claim 1, characterized in that: The calculation and display module includes: A Beidou positioning unit is used to locate the vehicle when the vehicle is traveling on the ground, and to send the initial position of the vehicle to the calculation and display module when the vehicle enters the mine.

4. The underground coal mine positioning and navigation system according to claim 1, characterized in that: The visual sensor includes a panoramic camera, and the visual sensor is specifically used for: Based on the images collected by the panoramic camera, the distance between the vehicle and surrounding obstacles is measured by a machine vision algorithm.

5. A coal mine underground positioning and navigation method, characterized in that: Applied to the coal mine underground positioning and navigation system according to any one of claims 1 to 4, the method comprises the following steps: Drawing a lane map by combining various layout information of underground lanes in the coal mine and location information of multiple road signs, and loading the lane map into a calculation and display module; The underground coal mine positioning and navigation system is installed on a vehicle, and the underground coal mine positioning and navigation system is started; Determining a driving route in the lane map according to the initial position of the vehicle and the driving destination received by the calculation and display module, and navigating the vehicle according to the driving route and the machine vision perception data collected by the vision sensor; During vehicle driving, the visual sensor is used to identify the current road sign, and the vehicle is positioned by combining the visual recognition result with the various measurement data obtained by the coal mine underground positioning and navigation system, and the visual recognition result is used to determine whether to update the navigation route.

6. The method according to claim 5, characterized in that The visual recognition result includes a distance between the vehicle and a current road sign measured based on machine vision measurement technology, and the positioning of the vehicle by combining the visual recognition result with a variety of measurement data obtained by the underground coal mine positioning and navigation system includes: Monitoring the travel distance of the vehicle by an odometer, matching the travel distance with the travel route, and displaying the preliminary position of the vehicle in the lane map according to the matching result; Combined with the distance between the vehicle and the current road sign and the distance between the vehicle and the sides of the lane measured by the laser ranging sensor, the preliminary position is calibrated through the spatial position relationship, and the calibrated vehicle position is used as the real-time positioning position of the vehicle.

7. The method according to claim 5, characterized in that After starting the underground coal mine positioning and navigation system, the method further includes: When the vehicle is traveling on the ground, positioning the vehicle by using a Beidou positioning unit; When the vehicle enters the mine, the Beidou positioning unit is switched to the underground coal mine positioning and navigation system to perform positioning and navigation on the vehicle.

8. The method according to claim 6, characterized in that The visual recognition result also includes road information of subsequent roads displayed by the current road sign, and the use of the visual recognition result to determine whether to update the navigation route includes: Combining the road information of each subsequent road and the driving route, determining whether it is possible to drive from the real-time positioning position to the destination, and obtaining a determination result; Determining whether to adjust the driving route according to the judgment result and the real-time road conditions ahead; In the case where the driving route needs to be adjusted, the subsequent navigation route is replanned according to the road information of the subsequent roads and the destination.

9. An electronic device, comprising: processor; a memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions to implement the coal mine underground positioning and navigation method as described in any one of claims 5-8.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the coal mine underground positioning and navigation method as described in any one of claims 5-8 is implemented.

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