Vehicle roadway keeping method and device for underground mining area and computer storage medium

Abstract

The invention discloses a vehicle roadway keeping method and device for an underground mining area and a computer storage medium, and belongs to the technical field of path planning. The method comprises the steps that a boundary point set in front of a vehicle is acquired; taking the boundary point set as a boundary, and performing forward superposition on the vehicles based on the rectangular search box to obtain a rectangular search box set; determining a connecting line formed by midpoints of first long sides of the rectangular search box set as a roadway maintaining path; by taking the boundary point set in front of the vehicle as a reference, the reachable position of the vehicle is limited; the advancing condition of the vehicle is simulated by constructing the rectangular search box, and the position where the vehicle can reach is simulated according to the scanning information data obtained in real time; the roadway maintaining path is determined by connecting the midpoints of the first long sides of the rectangular search box set, and the roadway maintaining path is directly determined according to the real-time scanning information data.

Description

Technical Field

[0001] The present invention relates to the technical field of path planning, and particularly to a method, device and computer storage medium for maintaining vehicle roadways in an underground mining area. Background Art

[0002] Roadways are various passages drilled between the surface and the ore body, used for ore transportation, ventilation, drainage, pedestrian passage, and various necessary preparatory works newly excavated for metallurgical equipment to extract ore. As one of the essential scenarios for the practical application of autonomous driving of transport vehicles, the mining area scenario has the characteristics of a closed environment and a single type of traffic participant, making it easier to realize the large-scale practical application of autonomous driving of transport vehicles first. There have always been two major pain points in the mining area: low safety and high labor costs. Due to topographical factors and ore distribution reasons, most of the mineral extraction methods in China are underground mining. In the underground mining area, due to the relatively fast advancing speed of the working face and the complex and crisscrossed roadway excavation, the trackless transportation method is more flexible and has higher transportation efficiency compared to track transportation, so it is widely adopted. In the underground mining area, manual driving is difficult and has low safety, and autonomous driving of transport vehicles has become an effective solution.

[0003] The task of underground mine cars is to transport minerals back and forth between various working faces (mineral excavation faces) and underground centralized unloading points. The transport roadways in the underground mining area crisscross and form a grid-like transport road network. The transport roadways are usually one-way single-lane, and there are meeting areas in the one-way two-lane roadways for busy transport sections. During the transportation process, the mine car is mostly in the roadway maintaining mode and travels in the middle of the transport roadway. Different from the lane keeping function in the ground structured road scenario, the transport roadways in the underground mining area are narrow and the roadway boundaries are irregular, making it difficult to directly apply traditional lane keeping methods to the underground mining area environment; moreover, due to the relatively fast advancing speed of the underground working face and the frequent roadway updates, the cost of high-precision map acquisition, production and update is high, and it is difficult to generate roadway keeping paths without maps and positioning information. That is to say, it is impossible to obtain real-time vehicle positioning data during the underground operation process.

[0004] Therefore, in the process of automatically controlling vehicles in the prior art, there is a problem that it is difficult to reliably determine the roadway keeping path due to the inability to obtain positioning information in real time. Summary of the Invention

[0005] In view of this, it is necessary to provide a method, device and computer storage medium for maintaining vehicle roadways in an underground mining area to solve the problem in the prior art that it is difficult to reliably determine the roadway keeping path due to the inability to obtain positioning information in real time during the process of automatically controlling vehicles.

[0006] To solve the above problems, in the first aspect, the present invention provides a method for maintaining vehicle roadways in an underground mining area, including: Obtain the set of boundary points in front of the vehicle; With the set of boundary points as the boundary, perform forward superposition on the vehicle based on the rectangular search box to obtain a set of rectangular search boxes; Determine that the connection line formed by the midpoints of the first long sides of the set of rectangular search boxes is the roadway keeping path; Among them, the first long side of the first rectangular search box is parallel to the intersection line of the front surface of the vehicle and the ground plane; determine the short side direction of the second rectangular search box according to the connection line between the midpoint of the intersection line of the front surface of the vehicle and the ground plane and the midpoint of the second long side of the first rectangular search box; the ( i -1)th midpoint of the second long side of the rectangular search box and the i midpoint of the second long side of the th rectangular search box, the connection line is parallel to the short side of the ( i +1)th rectangular search box.

[0007] In a possible implementation, the set of boundary points includes a left set of boundary points and a right set of boundary points; with the set of boundary points as the boundary, perform forward superposition on the vehicle based on the rectangular search box to obtain a set of rectangular search boxes, including: Set a standard rectangular search box; Use the standard rectangular search box as the initial search box for the first rectangular search box, and determine the direction of the first rectangular search box based on the intersection line; When the first rectangular search box covers the points in the right set of boundary points, generate a left translation instruction; When the first rectangular search box covers the points in the left set of boundary points, generate a right translation instruction; When the first rectangular search box covers the points in both the left set of boundary points and the right set of boundary points at the same time, generate a reduction instruction; After obtaining the first target rectangular search box, perform forward translation and superposition at a preset interval, determine the short side direction of the second rectangular search box according to the connection line between the midpoint of the intersection line and the midpoint of the second long side, and determine the second target rectangular search box based on the method of adjusting the first rectangular search box, and perform iterative adjustment until the target set of rectangular search boxes is obtained; Among them, the length of the standard rectangular search box is greater than the width of the vehicle, and the width of the standard rectangular search box is proportional to the speed of the vehicle.

[0008] In a possible implementation, obtaining the set of boundary points in front of the vehicle includes: Obtain the point cloud data in front of the vehicle; Perform top and bottom removal processing on the point cloud data to obtain the side point cloud data of the vehicle; Project the side point cloud data onto a plane parallel to the ground to obtain the side point set of the vehicle; Classify the side point set to obtain the set of boundary points.

[0009] In a possible implementation, the point cloud data is processed by removing the top and bottom to obtain the side point cloud data of the vehicle, including: Determine the maximum height threshold according to the vehicle height, and determine the minimum height threshold according to the chassis height; Remove all point cloud data with height values greater than the maximum height threshold or less than the minimum height threshold to obtain the side point cloud data; Among them, the maximum height threshold is greater than the vehicle height, and the minimum height threshold is below the chassis height.

[0010] In a possible implementation, the point cloud data is processed by removing the top and bottom to obtain the side point cloud data of the vehicle, including: Construct a coordinate system with the center point of the vehicle chassis at the initial position of the vehicle as the origin, the forward direction of the vehicle as the horizontal axis direction, and the direction perpendicular to the ground plane as the vertical axis direction; Determine the value of a preset multiple of the vehicle height as the height threshold; Only retain the point cloud data with the vertical coordinate value less than the height threshold and being non - negative to obtain the side point cloud data.

[0011] In a possible implementation, project the side point cloud data onto a plane parallel to the ground to obtain the side point set of the vehicle, including: Set the vertical coordinates of the side point cloud data to zero to obtain the side point set.

[0012] In a possible implementation, project the side point cloud data onto a plane parallel to the ground to obtain the side point set of the vehicle, and then further include: Construct a square rectangular search box centered on a single point of the side point set in sequence, and take the number of points in the square rectangular search box as the point density of the single point; Remove the single points with point density less than the preset point density threshold to obtain the side point set after removing interference.

[0013] In a possible implementation, classify the side point set to obtain the boundary point set; including: Sort the single points of the side point set in ascending order according to the abscissa value; Determine a set of a preset number of single points with the smallest abscissa value and negative ordinate value as the left - boundary standard point set; Determine a set of a preset number of single points with the smallest abscissa value and positive ordinate value as the right - boundary standard point set; Iteratively calculate the average left - boundary distance between all new single points of the side point set and the left - boundary standard point set, and the average right - boundary distance between the new single points and the right - boundary standard point set in sequence; When the average distance of the left boundary is greater than the average distance of the right boundary, define the new single point as the right boundary point, replace the single point corresponding to the minimum ordinate value in the right boundary standard point set with the new single point, and update the right boundary standard point set; When the average distance of the left boundary is less than the average distance of the right boundary, define the new single point as the left boundary point, replace the single point corresponding to the minimum ordinate value in the left boundary standard point set with the new single point, and update the left boundary standard point set; When the average distance of the left boundary is equal to the average distance of the right boundary, eliminate the new single point.

[0014] In a second aspect, the present invention further provides a vehicle roadway maintaining device for an underground mining area, including: A boundary point set acquisition module, configured to acquire a boundary point set in front of the vehicle; A rectangular search box set acquisition module, configured to perform forward superposition on the vehicle based on a rectangular search box with the boundary point set as the boundary to obtain a rectangular search box set; A roadway maintaining path determination module, configured to determine that the connection line formed by the midpoints of the first long sides of the rectangular search box set is the roadway maintaining path; Wherein, the first long side of the first rectangular search box is parallel to the intersection line of the front surface of the vehicle and the ground plane; according to the connection line between the midpoint of the intersection line of the front surface of the vehicle and the ground plane and the midpoint of the second long side of the first rectangular search box, determine the short side direction of the second rectangular search box; the ( i -1)th midpoint of the second long side of the rectangular search box and the i midpoint of the second long side of the rectangular search box, the connection line is parallel to the short side of the ( i +1)th rectangular search box.

[0015] In a third aspect, the present invention further provides a computer storage medium, configured to store a computer-readable program or instruction, and when the program or instruction is executed by a processor, it can implement the steps in the vehicle roadway maintaining method for an underground mining area described above.

[0016] The beneficial effects of adopting the above embodiments are as follows: A vehicle roadway maintaining method for an underground mining area provided by the present invention limits the reachable positions of the vehicle by referring to the boundary point set in front of the vehicle; simulates the advancing situation of the vehicle by constructing rectangular search boxes, and realizes simulating the reachable positions of the vehicle according to the real-time acquired scan information data; determines the roadway maintaining path by connecting the midpoints of the first long sides of the rectangular search box set, and realizes directly determining the roadway maintaining path according to the real-time scan information data. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic flowchart of an embodiment of the vehicle roadway maintaining method for an underground mining area provided by the present invention; Figure 2Schematic diagram of the result of a rectangular search box set of a vehicle provided by the present invention; Figure 3 Schematic flowchart of an embodiment for obtaining a boundary point set in front of a vehicle provided by the present invention; Figure 4 Schematic flowchart of an embodiment for obtaining side point cloud data of a vehicle provided by the present invention; Figure 5 Schematic flowchart of an embodiment for obtaining a boundary point set provided by the present invention; Figure 6 Schematic flowchart of an embodiment for obtaining a rectangular search box set provided by the present invention; Figure 7 Schematic structural diagram of an embodiment of a vehicle roadway holding device in an underground mining area provided by the present invention. Detailed implementation manners

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0019] It should be understood that the schematic drawings are not drawn to actual scale. The flowcharts used in the present invention illustrate operations implemented according to some embodiments of the present invention. It should be understood that the operations in the flowchart may not be implemented in sequence, and steps without logical context relationships may be reversed or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart or remove one or more operations from the flowchart under the guidance of the content of the present invention. Some of the block diagrams shown in the drawings are functional entities, which do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor systems and / or microcontroller systems.

[0020] The descriptions such as "first" and "second" involved in the embodiments of the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Therefore, the technical features defined with "first" and "second" may explicitly or implicitly include at least one of such features.

[0021] References to "embodiments" in this specification mean that particular features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the invention. The phrase appears in various places in the specification and is not necessarily referring to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0022] In order to solve the problem in the prior art that in the process of automatically controlling a vehicle, it is difficult to reliably determine the roadway keeping path due to the inability to obtain positioning information in real time, the present invention provides a method, a device, and a computer storage medium for a vehicle to keep a roadway in an underground mining area, which will be described in detail below.

[0023] As Figure 1 shown, Figure 1 is a schematic flowchart of an embodiment of the method for a vehicle to keep a roadway in an underground mining area provided by the present invention, including: S101: Obtain a set of boundary points in front of the vehicle; In some embodiments of the present invention, the set of boundary points refers to the boundary conditions of the mine tunnel in front of the vehicle that can be obtained by scanning devices such as a laser scanner, a camera, and a 3D scanner in real time.

[0024] S102: Use the set of boundary points as the boundary, and perform forward superposition on the vehicle based on a rectangular search box to obtain a set of rectangular search boxes; In some embodiments of the present invention, the rectangular search box is perpendicularly arranged with respect to the front surface of the vehicle, so as to broaden the search area and better guide the operation of the vehicle.

[0025] S103: Determine that the connection line formed by the midpoints of the first long sides of the set of rectangular search boxes is the roadway keeping path; wherein, the first long side of the first rectangular search box is parallel to the intersection line of the front surface of the vehicle and the ground plane; according to the connection line between the midpoint of the intersection line of the front surface of the vehicle and the ground plane and the midpoint of the second long side of the first rectangular search box, determine the short side direction of the second rectangular search box; the connection line between the midpoint of the second long side of the ( i -1)th rectangular search box and the midpoint of the second long side of the i th rectangular search box is parallel to the short side of the ( i +1)th rectangular search box.

[0026] In some embodiments of the present invention, according to the intersection line of the front surface of the vehicle and the ground plane, the direction of the first long side of the first rectangular search box is determined. The length of the short side of the rectangular search box is proportional to the speed of the vehicle. That is to say, for the same vehicle, the lengths of all short sides of its rectangular search box are fixed. Therefore, on the basis of determining the length of the first long side of the first rectangular search box, the first rectangular search box can be determined. It should be noted that, taking the boundary point set as the boundary, an adaptive adjustment is made to the first long side, so as to ensure that no collision occurs when the vehicle is at the position where the first rectangular search box is located. Further, for the second rectangular search box, first, the midpoint of the intersection line of the front surface of the vehicle and the ground plane is determined. Then, a line is connected between this midpoint and the midpoint of the second long side of the first rectangular search box to determine the direction of the short side of the second rectangular search box. Also, since the length of the short side is a fixed value, and the second rectangular search box is also arranged parallel to the ground plane, therefore, only a rectangular box that can simultaneously meet the requirements of the first long side of the second rectangular search box and is within the envelope range of the boundary point set needs to be determined in the rectangular plane limited by this short side length, and the second rectangular search box is obtained.

[0027] In this embodiment, by referring to the boundary point set in front of the vehicle, the reachable positions of the vehicle are limited; by constructing a rectangular search box to simulate the forward situation of the vehicle, the positions that the vehicle can reach are simulated according to the real-time acquired scanning information data; by connecting the midpoints of the first long sides of the rectangular search box set to determine the roadway holding path, the roadway holding path is directly determined according to the real-time scanning information data.

[0028] To clearly represent the simulation results of the rectangular search box set of the vehicle, as Figure 2 shown, Figure 2 is a schematic diagram of the results of an embodiment of the rectangular search box set of the vehicle provided by the present invention.

[0029] Among them, 201 represents the vehicle, the arrow represents the forward direction of the vehicle, 202 represents the first rectangular search box, 203 represents the second rectangular search box, the circle represents the midpoint of the first long side of the rectangular search box, and the connection lines of the midpoints of the second long sides of all rectangular search boxes form a dotted broken line. Sorting the rectangular search boxes by their distances from the vehicle, it can be found that: the connection line between the midpoint of the second long side of the ( i -1)th rectangular search box and the midpoint of the second long side of the i th rectangular search box is parallel to the short side of the ( i +1)th rectangular search box, and the length of the short side of each rectangular search box is fixed.

[0030] In some embodiments of the present invention, in S101, in order to obtain the boundary point set in front of the vehicle, as Figure 3 shown,Figure 3 The flowchart of an embodiment for obtaining the boundary point set in front of the vehicle provided by the present invention includes: S301: Obtain the point cloud data in front of the vehicle; In some embodiments of the present invention, point cloud data refers to a set of vectors in a three-dimensional coordinate system. The scanning data is recorded in the form of points, and each point contains three-dimensional coordinates (X, Y, Z), and some may also contain color information (RGB) or reflection intensity information (Intensity).

[0031] Point cloud data is usually obtained by devices such as laser scanners, cameras, and 3D scanners, and can be used in applications such as 3D modeling, scene reconstruction, robot navigation, virtual reality, and augmented reality. The main characteristics of point cloud data are high-precision, high-resolution, and high-dimensional geometric information, which can intuitively represent the shape, surface, and texture of objects in space.

[0032] S302: Perform top and bottom removal processing on the point cloud data to obtain the side point cloud data of the vehicle; In some embodiments of the present invention, top and bottom removal processing refers to removing the top data and ground data of the mine in the point cloud data, so as to only retain the point cloud data on both sides of the mine, that is, the side point cloud data.

[0033] S303: Project the side point cloud data onto a plane parallel to the ground to obtain the side point set of the vehicle; S304: Classify the side point set to obtain the boundary point set.

[0034] In this embodiment, by performing top and bottom removal processing on the point cloud data in front of the vehicle, only the data related to the vehicle operation is retained, greatly reducing the data processing volume and improving the data processing efficiency; by projecting the side point cloud data onto a plane parallel to the ground to obtain the side point set of the vehicle, dimensionality reduction processing is performed on the three-dimensional data, further reducing the difficulty of data processing, and projecting all three-dimensional cloud data onto a plane parallel to the ground, realizing the projection of the obstacles on both sides of the mine that may affect the vehicle operation onto the plane, making it easier to discover problems affecting the vehicle operation.

[0035] In some embodiments of the present invention, in S302, in order to perform top and bottom removal processing on the point cloud data to obtain the side point cloud data of the vehicle, first, determine the maximum height threshold according to the vehicle height, and determine the minimum height threshold according to the chassis height; then, remove all point cloud data with height values greater than the maximum height threshold or height values less than the minimum height threshold to obtain the side point cloud data; Among them, the maximum height threshold is greater than the vehicle height, and the minimum height threshold is below the chassis height.

[0036] In this embodiment, by using the maximum height threshold and the minimum height threshold as the clipping range, the point cloud data is adaptively clipped, and only the point cloud data directly related to the vehicle operation is retained, thereby reducing the data redundancy.

[0037] Further, in the process of removing the top and bottom of the point cloud data to obtain the side point cloud data of the vehicle, for the convenience of data operation, such as Figure 4 shown Figure 4 is a schematic flowchart of an embodiment for obtaining the side point cloud data of the vehicle provided by the present invention, including: S401: Construct a coordinate system, with the center point of the vehicle chassis at the initial position of the vehicle as the origin, the forward direction of the vehicle as the horizontal axis direction, and the direction perpendicular to the ground plane as the vertical axis direction; In some embodiments of the present invention, the coordinate system is a three-dimensional coordinate system, which can be a Cartesian coordinate system, or can be set to other forms of coordinate systems according to needs, and is not limited herein.

[0038] S402: Determine the value of the preset multiple of the vehicle height as the height threshold; In some embodiments of the present invention, the preset multiple can be set to any value in (1.5, 2.4).

[0039] By setting a larger height threshold to cope with the situation where the vehicle needs more space. Specifically, the vehicle may have a too large height due to an excessive amount of loaded goods, or the vehicle may jolt due to uneven road surfaces, thus requiring more space.

[0040] S403: Only retain the point cloud data with the vertical coordinate value less than the height threshold and non-negative to obtain the side point cloud data.

[0041] In this embodiment, since the vehicle chassis is used as the reference plane, the point cloud data with a negative vertical coordinate value is the data close to the ground. In a mine tunnel, the ground inevitably has potholes, and the ground can definitely meet the vehicle operation requirements. Therefore, by only retaining the point cloud data with the vertical coordinate value less than the height threshold and non-negative, not only the reliability of determining the vehicle operation situation based on the side point cloud data is ensured, but also the data affecting the subsequent processing accuracy can be better removed.

[0042] In some embodiments of the present invention, on the basis of constructing the coordinate system, in the process of projecting the side point cloud data onto a plane parallel to the ground to obtain the side point set of the vehicle, the vertical coordinate of the side point cloud data can also be set to zero to obtain the side point set.

[0043] In some embodiments of the present invention, in S303, after obtaining the side point set of the vehicle, in order to ensure the reliability of the side point set, it is also necessary to sequentially construct a square rectangular search box centered on a single point of the side point set, and use the number of points in the square rectangular search box as the point density of the single point; then, eliminate the single points with point density less than the preset point density threshold to obtain a side point set free of interference.

[0044] In this embodiment, by taking the preset point density threshold as the standard, the side point set is adaptively screened to remove the interference data in the side point set, thereby improving the reliability of the side point set free of interference.

[0045] In some embodiments of the present invention, in S304, in order to classify the side point set and obtain the boundary point set, as Figure 5 shown, Figure 5 is a schematic flowchart of an embodiment for obtaining the boundary point set provided by the present invention, including: S501: Sort the single points of the side point set in ascending order of the abscissa value; S502: Determine that a preset number of single point sets with the smallest abscissa value and negative ordinate value form the left boundary standard point set; S503: Determine that a preset number of single point sets with the smallest abscissa value and positive ordinate value form the right boundary standard point set; In some embodiments of the present invention, since the left boundary standard point set and the right boundary standard point set are the point sets closest to the vehicle, their measurement accuracy is relatively high. Taking them as reference standards can ensure the reliability of the standards. In other embodiments, other single point sets can also be determined as the left boundary standard point set and the right boundary standard point set, and the single point sets can also be adaptively screened manually, which is not limited here.

[0046] S504: Sequentially and iteratively calculate the average left boundary distance between all new single points of the side point set and the left boundary standard point set, and the average right boundary distance between the new single points and the right boundary standard point set; S505: When the average left boundary distance is greater than the average right boundary distance, define the new single point as a right boundary point, and replace the single point corresponding to the minimum ordinate value in the right boundary standard point set with the new single point to update the right boundary standard point set; S506: When the average left boundary distance is less than the average right boundary distance, define the new single point as a left boundary point, and replace the single point corresponding to the minimum ordinate value in the left boundary standard point set with the new single point to update the left boundary standard point set; S507: When the average left boundary distance is equal to the average right boundary distance, eliminate the new single point.

[0047] In this embodiment, by using the left boundary standard point set and the right boundary standard point set as reference standards, all new single points are measured twice, and then all new single points are classified to determine the left boundary standard point set and the right boundary standard point set, which better ensures the reliability of the classification result and adaptively screens out interference points.

[0048] In some embodiments of the present invention, in S102, the boundary point set includes a left boundary point set and a right boundary point set; in order to use the boundary point set as a boundary, a forward superposition is performed on the vehicle based on a rectangular search frame to obtain a set of rectangular search frames, as Figure 6 shown Figure 6 is a schematic flowchart of an embodiment for obtaining a set of rectangular search frames provided by the present invention, including: S601: Set a standard rectangular search frame; In some embodiments of the present invention, the length and width of the standard rectangular search frame are fixed. As the optimal rectangular search frame, the size of the rectangular search frame is appropriately enlarged based on the size of the vehicle. On the basis of ensuring the normal operation of the vehicle, some degrees of freedom are reserved to facilitate the vehicle to adjust its operating state.

[0049] Preferably, the length of the standard rectangular search frame is greater than the width of the vehicle, and the width of the standard rectangular search frame is proportional to the speed of the vehicle, that is, the wider the vehicle, the greater the length of the standard rectangular search frame; the faster the speed of the vehicle, the greater the width of the standard rectangular search frame.

[0050] It should be noted that in some areas, there may be a situation where the passage is too narrow and cannot meet the length requirement of the standard rectangular search frame, but it is larger than the width of the vehicle itself, that is, precise vehicle operation is required to pass through this area, so the rectangular search frame needs to be reduced; however, after passing through this area, the passage returns to normal. Therefore, in order to reduce the requirement for the path control accuracy of the vehicle, for each superposition, that is, for each rectangular search frame, the size of the standard rectangular search frame is used as the search starting point, so as to increase the size of the rectangular search frame as much as possible and reduce the requirement for the control accuracy of the vehicle.

[0051] S602: Use the standard rectangular search frame as the initial search frame of the first rectangular search frame, and determine the direction of the first rectangular search frame based on the intersection line; In some embodiments of the present invention, the intersection line between the front surface of the vehicle and the ground plane is used as the direction of the first long side of the first rectangular search frame, that is, the first long side is a certain section intercepted from the intersection line. Then, on the basis of determining the intersection line, the change range of the first rectangular search frame can be determined.

[0052] S603: When the first rectangular search frame covers the points in the right boundary point set, generate a left translation instruction; S604: When the first rectangular search box covers the points in the left boundary point set, generate a right translation instruction; S605: When the first rectangular search box covers the points in both the left boundary point set and the right boundary point set at the same time, generate a reduction instruction; In some embodiments of the present invention, the reduction instruction means reducing the length of the first rectangular search box while keeping the width unchanged. By adaptively adjusting the first rectangular search box through the above instructions, it can meet the changing needs in different situations.

[0053] S606: After obtaining the first target rectangular search box, translate it forward and stack it at a preset interval. Determine the direction of the short side of the second rectangular search box according to the connection line between the midpoint of the intersection line and the midpoint of the second long side, and determine the second target rectangular search box based on the method of adjusting the first rectangular search box, and iterate the adjustment until the target rectangular search box set is obtained.

[0054] In some embodiments of the present invention, once the first target rectangular search box is obtained, then the change range of the second rectangular search box is also determined, and only its specific position needs to be adaptively adjusted based on the boundary point set.

[0055] The method of adjusting the first rectangular search box specifically refers to the control instructions in S603 - S605 to correct the direction and size of the second rectangular search box.

[0056] In this embodiment, by taking the standard rectangular search box as the basis and performing forward stacking on the vehicle, a relatively reliable rectangular search box set can be obtained, which is convenient for accurately controlling the vehicle to drive along the set path subsequently and ensuring the safety of the vehicle.

[0057] To better implement the vehicle roadway keeping method in the underground mining area in the embodiments of the present invention, correspondingly, the embodiments of the present invention also provide a vehicle roadway keeping device for the underground mining area, as Figure 7 shown Figure 7 is a schematic structural diagram of an embodiment of the vehicle roadway keeping device for the underground mining area provided by the present invention. The vehicle roadway keeping device 700 for the underground mining area includes: A boundary point set acquisition module 701, configured to acquire the boundary point set in front of the vehicle; A rectangular search box set acquisition module 702, configured to perform forward stacking on the vehicle based on the rectangular search box with the boundary point set as the boundary to obtain a rectangular search box set; A roadway keeping path determination module 703, configured to determine that the connection line formed by the midpoints of the first long sides of the rectangular search box set is the roadway keeping path; Among them, the first long side of the first rectangular search box is parallel to the intersection line of the front surface of the vehicle and the ground plane; the short side direction of the second rectangular search box is determined according to the connection line between the midpoint of the intersection line of the front surface of the vehicle and the ground plane and the midpoint of the second long side of the first rectangular search box; the connection line between the midpoint of the second long side of the ( i -1)th rectangular search box and the midpoint of the second long side of the i th rectangular search box is parallel to the short side of the ( i +1)th rectangular search box.

[0058] Correspondingly, an embodiment of the present application further provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the programs or instructions are executed by a processor, the steps or functions in the vehicle roadway maintaining method for an underground mining area provided by the above-mentioned various method embodiments can be implemented.

[0059] Those skilled in the art can understand that all or part of the processes of implementing the above method embodiments can be completed by instructing relevant hardware (such as a processor, a controller, etc.) through a computer program, and the computer program can be stored in a computer-readable storage medium. Among them, the computer-readable storage medium is a magnetic disk, an optical disk, a read-only memory, or a random access memory, etc.

[0060] The vehicle roadway maintaining method, device, electronic device, and storage medium provided by the present invention have been introduced in detail above. Specific examples are used in this article to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A method for maintaining a vehicle roadway in an underground mining area, characterized in that, Including: Obtain the set of boundary points in front of the vehicle; Using the set of boundary points as the boundary, perform forward superposition on the vehicle based on a rectangular search box to obtain a set of rectangular search boxes; Determine that the connection line formed by the midpoints of the first long sides of the set of rectangular search boxes is the roadway keeping path; Among them, the first long side of the first rectangular search box is parallel to the intersection line of the front surface of the vehicle and the ground plane; the short side direction of the second rectangular search box is determined according to the connection line between the midpoint of the intersection line of the front surface of the vehicle and the ground plane and the midpoint of the second long side of the first rectangular search box; the connection line between the midpoint of the second long side of the i -(1)th rectangular search box and the midpoint of the second long side of the i th rectangular search box is parallel to the short side of the i +(1)th rectangular search box.

2. The method for maintaining a vehicle roadway in an underground mining area according to claim 1, wherein The set of boundary points includes a left boundary point set and a right boundary point set; the performing forward superposition on the vehicle based on a rectangular search box using the set of boundary points as the boundary to obtain a set of rectangular search boxes includes: Set a standard rectangular search box; Using the standard rectangular search box as the initial search box of the first rectangular search box, determine the direction of the first rectangular search box based on the intersection line; When the first rectangular search box covers a point in the right boundary point set, generate a left translation instruction; When the first rectangular search box covers a point in the left boundary point set, generate a right translation instruction; When the first rectangular search box covers points in both the left boundary point set and the right boundary point set simultaneously, generate a shrinking instruction; After obtaining the first target rectangular search box, perform forward translation and superposition at a preset interval, determine the direction of the short side of the second rectangular search box according to the connection line between the midpoint of the intersection line and the midpoint of the second long side, and determine the second target rectangular search box based on the method of adjusting the first rectangular search box, and perform iterative adjustment until the target set of rectangular search boxes is obtained; Wherein, the length of the standard rectangular search box is greater than the width of the vehicle, and the width of the standard rectangular search box is proportional to the speed of the vehicle.

3. The vehicle roadway maintaining method for the underground mining area according to claim 1, wherein The obtaining the set of boundary points in front of the vehicle includes: Obtain the point cloud data in front of the vehicle; Perform top and bottom removal processing on the point cloud data to obtain the side point cloud data of the vehicle; Project the side point cloud data onto a plane parallel to the ground to obtain the side point set of the vehicle; Classify the side point set to obtain the set of boundary points.

4. The method for maintaining a vehicle roadway in an underground mining area according to claim 3, wherein The performing top and bottom removal processing on the point cloud data to obtain the side point cloud data of the vehicle includes: Determine the maximum height threshold according to the vehicle height, and determine the minimum height threshold according to the chassis height; Remove all the point cloud data with height values greater than the maximum height threshold or height values less than the minimum height threshold to obtain the side point cloud data; Wherein, the maximum height threshold is greater than the vehicle height, and the minimum height threshold is below the chassis height.

5. The method for maintaining a vehicle roadway in an underground mining area according to claim 3, characterized in that The performing top and bottom removal processing on the point cloud data to obtain the side point cloud data of the vehicle includes: Construct a coordinate system, with the center point of the vehicle chassis at the initial position of the vehicle as the origin, the forward direction of the vehicle as the horizontal axis direction, and the direction perpendicular to the ground plane as the vertical axis direction; Determine the value of a preset multiple of the vehicle height as the height threshold; Only retain the point cloud data with vertical coordinate values less than the height threshold and non-negative to obtain the side point cloud data.

6. The vehicle roadway maintaining method for the underground mining area according to claim 5, wherein, The projecting the side point cloud data onto a plane parallel to the ground to obtain the side point set of the vehicle includes: Set the vertical coordinates of the side point cloud data to zero to obtain the side point set.

7. The method for maintaining a vehicle roadway in an underground mining area according to claim 5, characterized in that Project the side point cloud data onto a plane parallel to the ground to obtain the side point set of the vehicle. After that, it further includes: Construct a square rectangular search box centered on a single point of the side point set in sequence, and take the number of points in the square rectangular search box as the point density of the single point; Eliminate the single points with point density less than the preset point density threshold to obtain a side point set free of interference.

8. The method for maintaining a vehicle roadway in an underground mining area according to claim 7, characterized in that, Classify the side point set to obtain the boundary point set, including: Sort the single points of the side point set in ascending order of abscissa value; Determine that a set of a preset number of single points with the smallest abscissa value and negative ordinate value is the left boundary standard point set; Determine that a set of a preset number of single points with the smallest abscissa value and positive ordinate value is the right boundary standard point set; Iteratively calculate the average left boundary distance between all new single points of the side point set and the left boundary standard point set, and the average right boundary distance between the new single points and the right boundary standard point set in sequence; When the average left boundary distance is greater than the average right boundary distance, define the new single point as a right boundary point, and replace the single point corresponding to the minimum ordinate value in the right boundary standard point set with the new single point to update the right boundary standard point set; When the average left boundary distance is less than the average right boundary distance, define the new single point as a left boundary point, and replace the single point corresponding to the minimum ordinate value in the left boundary standard point set with the new single point to update the left boundary standard point set; When the average left boundary distance is equal to the average right boundary distance, eliminate the new single point.

9. A vehicle roadway maintaining device for an underground mining area, characterized in that, It includes: A boundary point set acquisition module for acquiring the boundary point set in front of the vehicle; A rectangular search box set acquisition module for performing forward superposition on the vehicle based on a rectangular search box with the boundary point set as the boundary to obtain a rectangular search box set; A roadway keeping path determination module for determining that the connection line formed by the midpoints of the first long sides of the rectangular search box set is the roadway keeping path; Among them, the first long side of the first rectangular search box is parallel to the intersection line of the front surface of the vehicle and the ground plane; the short side direction of the second rectangular search box is determined according to the connection line between the midpoint of the intersection line of the front surface of the vehicle and the ground plane and the midpoint of the second long side of the first rectangular search box; the connection line between the midpoint of the second long side of the i (-1)th rectangular search box and the midpoint of the second long side of the i th rectangular search box is parallel to the short side of the i (+1)th rectangular search box.

10. A computer storage medium, characterized in that, For storing computer-readable programs or instructions, when the programs or instructions are executed by a processor, they can implement the steps in the vehicle roadway keeping method in the underground mining area described in any one of claims 1 to 8 above.

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