CN108345305A - Railless free-wheeled vehicle intelligent vehicle-mounted system, underground vehicle scheduling system and control method - Google Patents
Railless free-wheeled vehicle intelligent vehicle-mounted system, underground vehicle scheduling system and control method Download PDFInfo
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses railless free-wheeled vehicle intelligent vehicle-mounted system, underground vehicle scheduling system and control methods.Railless free-wheeled vehicle intelligent vehicle-mounted system is the setting flame proof switch board on railless free-wheeled vehicle, it is divided into main cavity, power source cavity and wire connection cavity, power management module, information exchange module, isolation module, inertial navigation module, data acquisition and preprocessing module, positioning and environmental modeling module and planning control module is equipped in main cavity；It is equipped with intrinsic safety sensing module, flame-proof type sensing module and bottom controller in the outside of flame proof switch board.Underground vehicle scheduling system includes that positioning device, downhole surveillance video camera and the scheduling system server carried in the wireless sensor network anchor node of tunnel different location, underground pedestrian is arranged.The progress control method of railless free-wheeled vehicle is built based on railless free-wheeled vehicle intelligent vehicle-mounted system and underground vehicle scheduling system.The present invention realizes the autonomous driving and intelligent dispatch of railless free-wheeled vehicle, improves safety and the high efficiency of assistant conveyance.
Description
Technical field
The invention belongs to development of auxiliary transport in coal mines apparatus fields, more particularly to railless free-wheeled vehicle intelligent vehicle-mounted system, underground
Vehicle dispatch system and control method.
Background technology
Development of auxiliary transport in coal mines equipment carry in addition to Coal Transport include personnel, material, tool, equipment, spoil etc. its
The transport task of his the various means of production is the emphasis use of coal production enterprise and indispensable equipment.Trackless rubber-tyred turner
Make in each panel, main entry, into the scraper of administrative staff and equipment conveying or material and facility.With changing for China's coal-mine mining conditions
Kind, in the preferable mine of condition, such equipment directly can drive into each panel main entry from ground along inclined shaft.Railless free-wheeled vehicle is with its height
Effect property, mobility, safety and strong carrying capacity, using more and more extensive in terms of equipment and personnel's transport.
Currently, railless free-wheeled vehicle is usually by professional's pilot steering.Since each panel of coal mine and drive are intricate, and
Transportation range is long, and the working time is indefinite, and fatigue driving easily occurs in driver, and huge safety is caused to personnel and equipment conveying
Hidden danger；Coal mine roadway illumination condition is bad, and bad environments, lane space is limited, and has miner, production equipment, other transports
Vehicle etc. is static or moving object exists, and only relies on personnel's driving and also causes security threat to miner and equipment safety；Current
Underground scheduling system is only used for basic overall tasks planning, personnel and the monitoring of equipment essential information, when vehicle is in narrow
Meeting needs meeting both sides driver to show in the way of whistle, light etc. with when having interim vehicle to be added in the road network of tunnel
Meaning, wherein one returns to nearest avoiding space and avoided, this certainly will reduce assistant conveyance efficiency, also safety be brought to ask
Topic.
Unmanned technology is increasingly becoming the hot spot studied both at home and abroad in recent years, occurs transporting under city and wild environment
Capable pilotless automobile.Unmanned technology is applied to assistant conveyance vehicle, the working strength of driver can be reduced, carried
High drive safety and independence, it may be convenient to access mine intelligentization management system carry out United Dispatching, for mine without
Peopleization is of great significance.But current Unmanned Systems are only used for superstructure environment, can not directly be carried to
It is applied on railless free-wheeled vehicle, for there may be the coal mine environment of explosive gas and being not suitable for.
The intelligent driving system design of railless free-wheeled vehicle is mainly manifested in compared to the difficulty of surface car：
(1) development of auxiliary transport in coal mines vehicle and all kinds of electrical equipments of carrying, it is necessary to meet safety regulations in coal mine regulation and
The index of GB3836 explosive atmosphere series standards, all devices must strictly meet anti-explosion safety requirement.At present ground nobody
Control loop can not meet the product and design of such requirement, can not directly apply to subsurface environment；
(2) subsurface environment illumination is low, and there are coal dust, dust, steam etc. in operative scenario, for vision, laser, red
Outside, the performance of the sensors such as ultrasound can affect greatly, and rely on unitary class type sensor and carry out perception and reliability of positioning
It is insufficient；
(3) underworkings is intricate, can not be positioned using equipment such as the GPS that ground automatic driving vehicle uses,
And the signal sent out for the sensor that communicates and perceive may by shielding, absorb and there are multipath effects, give auxiliary fortune
The reliable location of defeated vehicle and perception safety bring huge challenge, and directly from control room Remote Control Vehicle, there may be communicating interrupts
The case where causing safety accident needs vehicle itself to have autonomous perception, local motion planning and control ability.
(4) development of auxiliary transport in coal mines vehicle operation scene is complicated, and span length and wheeled region, revolution have with evacuation range
Limit, it is understood that there may be the barriers such as miner, mobile vehicle, static equipment bring huge difficulty to vehicle autonomous driving, rely only on
Vehicle itself is perceived and is controlled, when there is vehicle meeting, interim extra bus, wherein a vehicle needs return to most
Nearly avoiding space reduces whole assistant conveyance efficiency, it is therefore desirable to the Intelligent Dispatching System of United Dispatching；
(5) the scheduling system of underground control room is mainly monitored the essential information of personnel and equipment state at present,
Monitoring for railless free-wheeled vehicle and other vehicles is usually camera fixed point monitoring, can not continuously obtain vehicle accurate location,
And current scheduling strategy is only that simple task scheduling is formulated, and can not be that the optimal path of vehicle and mission planning are instructed,
Underground assistant conveyance efficiency can not be further increased from the trajectory planning and control plane of vehicle itself.
In conclusion railless free-wheeled vehicle intelligent driving system and scheduling system, on the one hand need railless free-wheeled vehicle itself full
Sufficient anti-explosion safety requirement, and must have reliable perception, position, the ability of motion planning and control, it is necessary to have redundancy
Sensing system is to ensure aforementioned capabilities.On the other hand increasingly automated and intelligentized scheduling system must carries out underground
Railless free-wheeled vehicle assistant conveyance unified planning management.And ground and other types Vehicular intelligent control loop do not have still at this stage
Aforementioned capabilities can not be used directly under such circumstances.
Invention content
In order to solve the technical issues of above-mentioned background technology proposes, the present invention is intended to provide the intelligent vehicle-carried system of railless free-wheeled vehicle
System, underground vehicle scheduling system and control method, realize the autonomous driving and intelligent dispatch of railless free-wheeled vehicle, improve auxiliary fortune
Defeated safety and high efficiency.
In order to achieve the above technical purposes, the technical scheme is that：
Flame proof switch board, the flame proof switch board is arranged in a kind of railless free-wheeled vehicle intelligent driving system on railless free-wheeled vehicle
Including 3 cavitys：Main cavity, power source cavity and wire connection cavity；Be equipped in main chamber body power management module, current sensor, after
Electric appliance module, power supply conversion module, intrinsic safety electric source module, information exchange module, isolation module, inertial navigation module, data are adopted
Collection and preprocessing module, positioning and environmental modeling module and planning control module；Power module is equipped in the power source cavity；Every
The outside of quick-fried switch board is equipped with intrinsic safety sensing module, flame-proof type sensing module and bottom controller；The intrinsic safety sensing module packet
Include wireless sensor network node module, multi-line laser radar sensing module, two-dimensional laser radar sensing module, millimetre-wave radar
Sensing module, vehicle-mounted sonar sensing module and speed measurement module；The flame-proof type sensing module includes flame-proof type infrared photography
Head module, flame-proof type infrared viewing device module and flame-proof type TOF camera sensing module；The power management module acquires power supply mould
The temperature and voltage signal of block judge that power work state, current sensor acquire each branch current and feed back to power management mould
Block, power management module control controller module according to power supply and branch current information, and controller module includes multiple relays
Module controls the break-make of each non-peace circuit and intrinsically safe circuit respectively；Non- peace circuit converts module by power module by power supply
Output is converted to different voltages, information exchange module, inertial navigation module respectively inside flame proof switch board, data acquisition with
Flame-proof type sensing module outside preprocessing module, positioning and environmental modeling module, planning control module and flame proof switch board
Power supply；The output of power module is converted to different intrinsic safety voltage, respectively flame proof by intrinsically safe circuit by intrinsic safety electric source module
Intrinsic safety sensing module power supply outside isolation module and flame proof switch board inside switch board；Terminals are installed in the wire connection cavity
Son realizes that the connection of flame proof switch board internal circuit and external circuit, intrinsic safety sensing module pass through terminals by connecting terminal
Son is connected with the input terminal of isolation module, and the output end of isolation module is connected with the input terminal of information exchange module, flame-proof type sense
Know that module is connected by connecting terminal with the input terminal of information exchange module, the output end of information exchange module is sequentially connected data
Acquisition and preprocessing module, positioning and environmental modeling module and planning control module.
Further, multi-line laser radar sensing module is installed on the vehicle body upper portion of railless free-wheeled vehicle；Two-dimensional laser radar
Sensing module, millimetre-wave radar sensing module are installed below the Vehicular body front of railless free-wheeled vehicle；Vehicle-mounted sonar sensing module peace
Loaded on vehicle body side and rear；Flame-proof type infrared photography head module, flame-proof type infrared viewing device module, wireless sensor network section
Point module is installed on above car body；Speed measurement module is installed at four wheels；Flame-proof type TOF camera sensing module is installed on
Vehicle rear both sides.The form of railless free-wheeled vehicle includes but not limited to personnel in the pit's transport vehicle and equipment scraper；Railless free-wheeled vehicle
For the entirely autonomous driver patterns of directionless disk, or retain the form that steering wheel can manually be taken over.
Underground vehicle based on above-mentioned railless free-wheeled vehicle intelligent vehicle-mounted system dispatches system, including is arranged in coal mine roadway two
The wireless sensor network anchor node of side different location, the positioning device of each underground pedestrian carrying, setting are in coal mine roadway difference
The downhole surveillance video camera of position and the scheduling system server in coalmine dispatching room, each wireless sensor network anchor node are set
Absolute position known to；In the process of moving, wireless sensor network node module detection wirelessly passes railless free-wheeled vehicle in tunnel
The signal strength that sensor network anchor node is sent out, automatic network-building communication, and vehicle location, nothing are carried out based on wireless sensor network
The upload information of railless free-wheeled vehicle intelligent vehicle-mounted system and vehicle location information are passed through wired network by line sensor network anchor node
Network is transmitted to scheduling system server, and the positioning device that underground pedestrian carries is by wireless sensor network by pedestrian current location
Information is transmitted to scheduling system server, the location information of downhole surveillance camera surveillance underground vehicle and pedestrian, and by having
Gauze network will monitor that information is transmitted to scheduling system server, and scheduling system server integrated treatment railless free-wheeled vehicle is intelligent vehicle-carried
The monitoring information of the upload information of system, the location information of vehicle, the location information of pedestrian and downhole surveillance video camera, obtains well
The scheduling planning scheme of lower vehicle controls the operation of each railless free-wheeled vehicle.
The trackless rubber-tyred method for controlling joint operating that system is dispatched based on above-mentioned underground vehicle, is included the following steps：
(1) each flame-proof type sensing module on railless free-wheeled vehicle intelligent vehicle-mounted system and intrinsic safety sensing module acquire respectively respectively
Self-information, and the information exchange module being transferred in flame proof switch board；
(2) data acquisition receives various kinds of sensors data with preprocessing module from information exchange module, and to all kinds of numbers
According to progress time synchronization and pretreatment；
(3) positioning utilizes pretreated sensing data and underground GIS-Geographic Information System with environmental modeling module, into
Driving self poisoning and environment sensing, and establish vehicle-periphery model；
(4) vehicle location information and ambient enviroment model are transferred to the tune of coalmine dispatching room using wireless sensor network
System server is spent, pedestrian's current location information is transmitted to by the positioning device that underground pedestrian carries by wireless sensor network
System server is dispatched, the location information of vehicle and pedestrian is further confirmed that using downhole surveillance video camera；Dispatch system service
Device carries out integrated scheduling planning using optimal scheduling strategy, export the global path planning information of each vehicle, vehicle priority and
Highest priority intervention controls information, and is sent to each vehicle by wireless sensor network；
(5) planning control module synthesis is sent using environment sensing information, vehicle performance information, scheduling system server
Global path planning information and vehicle precedence information carry out vehicle part real-time motion planning, and program results are sent to
Bottom controller；
(6) bottom controller resolves real-time motion planning as a result, sending control signals to the throttle-by-wire of vehicle, stopping
Vehicle, steering controller realize car speed control；The highest priority intervention that scheduling system server is sent directly is received simultaneously
Control information.
Further, in step (1), wireless sensor network node module and the wireless sensor network anchor in tunnel
Node is communicated, and using wireless sensor network transmission various information and carries out wireless location；Multi-line laser radar perceives mould
Block acquires environment point cloud data, and carrying out environmental modeling, positioning and moving object detection using point cloud data divides；Flame-proof type
Infrared photography head module automatically switches working condition according to illuminance in environment, acquires the coloured image and low under high illumination environment
Infrared auxiliary gray level image under illumination environment is identified for visual modeling and positioning and target detection；Flame-proof type infrared night vision
Instrument module acquires the temperature information of object in tunnel, the exact position for assisting detection underground pedestrian；Millimetre-wave radar perceives
Module acquires dynamic and static-obstacle thing information in environment, is used for moving object detection；Two-dimensional laser radar sensing module acquires
The obstacle information of place plane, for environmental modeling and positioning；Flame-proof type TOF camera sensing module acquires Environment Obstacles object
Depth and color image information are used for rear of vehicle target identification and vehicle location；Vehicle-mounted sonar sensing module acquisition is sent out
Ultrasonic signal, for measuring distance and vehicle location of the vehicle to surrounding objects；Speed measurement module acquisition pulse is believed
Number, for detecting and feeding back vehicle wheel rotational speed, for being positioned using reckoning, providing velocity feedback for sector planning；It is used
Property navigation module collection vehicle speed, acceleration, posture information, for utilizing the progress vehicle location of inertial positioning method.
Further, in step (2), wireless sensor network node module and each wireless sensor network in tunnel
Network anchor node carries out soft time synchronization using multi-hop RBS time synchronization protocols；Multi-line laser radar sensing module point cloud data
Pretreatment is smoothed the point cloud of acquisition using bilateral filtering, to a cloud adopt using VoxelGrid filters
Sample removes outlier using StatisticalOutlier-Removal filters；Flame-proof type infrared camera module data
Pretreatment inhibits noise, enhancing edge using non-linear form filtering and histogram equalization operation, improves gray-level；Every
The pretreatment of quick-fried type infrared viewing device module data improves temperature pattern resolution ratio using interframe registration non-uniform correction method, adopts
Enhance image with unsharp masking method；The detection of distance in the pretreatment acquisition wide viewing angle of millimetre-wave radar sensing module data
Information rejects spacing wave and garbage signal, static-obstacle thing signal；The pre- place of two-dimensional laser radar sensing module data
Reason rejects outlier using stochastical sampling consistency；The pretreatment of flame-proof type TOF camera sensing module data is consistent using sampling
Property algorithm removal mistake registration point pair, divide point set；The pretreatment of vehicle-mounted sonar sensing module data is to reject data sequence
In useless noise signal；The pretreatment of speed measurement module data is that the rotary speed information multiple averaging to acquisition inhibits rotating speed wave
It is dynamic.
Further, in step (3), pass through the wireless sensor network in wireless sensor network node module and tunnel
Three-dimensional laser SLAM methods, the flame-proof type that wireless location method, the multi-line laser radar sensing module of network anchor node composition use
Infrared photography head module use binocular camera SLAM methods, two-dimensional laser radar sensing module use 2D SLAM methods, every
2D SLAM methods, the speed that the depth camera SLAM methods of quick-fried type TOF camera sensing module, vehicle-mounted sonar sensing module use
The reckoning positioning side that measurement module combination kinematics model carries out reckoning localization method, inertial navigation module uses
Method, GIS-Geographic Information System carries out comprehensive positioning under surge well, obtains vehicle location final result；
Point cloud cluster segmentation algorithm, the flame-proof type infrared photography head module used by multi-line laser radar sensing module is adopted
Image segmentation and Extracting of Moving Object, flame proof infrared viewing device module judge underground pedestrian position according to temperature information
The week of dynamic barrier information approach, the use of vehicle-mounted sonar sensing module that information approach, millimetre-wave radar sensing module use
Obstacle distance information approach is enclosed, vehicle-periphery perception is realized, establishes ambient enviroment model.
Further, in step (4), vehicle location information and ambient enviroment model are passed using wireless sensor network
The defeated scheduling system server to coalmine dispatching room, and confirmed using downhole surveillance video camera；The optimal scheduling strategy
For in tunnel when accessible and track switch, scheduling system server cooks up rational shortest path based on GIS map, through nothing
Line sensor network is transferred to vehicle, and vehicle is autonomous to carry out local paths planning and motion control according to Global motion planning path；When
When vehicle will carry out meeting or encounter pedestrian, according to the vehicle in vehicle priority and underground pedestrian position information, tunnel away from
Synthesis is scheduled planning with a distance from current meeting avoiding space recently, and the vehicle of high priority first passes through, low priority
Vehicle enters avoiding space and carries out evacuation action, and slows down or stop when being less than threshold value at a distance from the pedestrian of underground, waits for pedestrian
Pass through rear continuation normal operation.
Further, railless free-wheeled vehicle has vehicle self-checking system, when vehicle self-checking system detects that vehicle breaks down
When, control vehicle is run to nearest meeting avoiding space or parking of directly keeping right, and utilizes wireless sensor network by failure
Vehicle position information and fault type, warning message send back scheduling system server, and control room monitoring personnel sends dimension immediately
Repair personnel and reach fault car working site and repair, at the same reformulate it is by the scene of the accident or being affected by this other
The Global motion planning path of vehicle ensures the general work efficiency of underground assistant conveyance.
Further, in step (5), planning control module synthesis is using ambient enviroment model, vehicle in tunnel
What location information, present speed, acceleration information, gross vehicle load, floor type information and scheduling system server were sent
Vehicle priority and global path planning information carry out vehicle part real-time motion planning, program results are sent to bottom control
Device processed；
In step (6), bottom controller is using vehicle kinematics Models computed real-time motion planning as a result, obtaining wheel
Rotary speed instruction sends control signals to throttle-by-wire, brake, steering controller using vehicle control bus, controls each diesel oil
Machine or motor realize car speed control；According to the vehicle behavior when preplanning, using controlling bus send headlight, taillight,
Loudspeaker, rain brush control signal；Bottom controller receives the highest priority intervention control that scheduling system server is sent simultaneously
Information in case of emergency controls vehicle emergency stop.
The advantageous effect brought using above-mentioned technical proposal：
The intelligent railless free-wheeled vehicle that the present invention designs has perception and the alignment sensor of redundancy, overcomes and relies on single biography
The safety issue that sensor is perceived and positioned, ensure that vehicle underground adverse circumstances it is reliable perception and stationkeeping ability,
And design meets mining equipment anti-explosion safety requirement.After can be according to the autonomous tunnel traffic information for perceiving acquisition, coalmine dispatching room
Global motion planning result that platform management system is sent out moves the information such as static-obstacle thing in environment and carries out locally autonomous planning, realizes vehicle
Motion planning and control, improve railless free-wheeled vehicle driving independence and safety.It is each to dispatch system server synthesis
Intelligent driving railless free-wheeled vehicle current location and destination information, down-hole personnel position information, underground GIS information, utilization are optimal
Dispatching method carries out mining assistant conveyance system overall tasks target making and planning, realizes the pool of underground Stady On The Auxiliary Transportation Systems
Cooperation and intelligent dispatch improve monitoring range and ability of the backstage to vehicle.Railless free-wheeled vehicle intelligent driving system and tune
Degree method is eliminated since driver drives the improper security risk brought, and improves the safety of personnel and equipment, significantly
The production efficiency for improving mining assistant conveyance improves automation and the intelligent level of mining assistant conveyance, is managed to be unified
Reason downhole production activity provides good interface.
Description of the drawings
Fig. 1 is that the vehicle arrangement installation of the present invention is preceding to axonometric drawing；
Fig. 2 is after the vehicle arrangement of the present invention is installed to axonometric drawing；
Fig. 3 is system structure of the invention and module connection figure；
Fig. 4 is underground trackless formula Stady On The Auxiliary Transportation Systems scheduling principle schematic diagram of the present invention；
Label declaration：1, railless free-wheeled vehicle；2, wireless sensor network node module；3, multi-line laser radar perceives mould
Block；4, flame-proof type infrared photography head module；5, flame proof infrared viewing device module；6, millimetre-wave radar sensing module；7, two dimension swashs
Optical radar sensing module；8, flame proof switch board；9, flame-proof type TOF camera sensing module；10, vehicle-mounted sonar sensing module；11 speed
Spend measurement module；12, power module；13, power management module；14, current sensor；15, relay module；16, power supply turns
Mold changing group；17, intrinsic safety electric source module；18, information exchange module；19, isolation module；20, inertial navigation module；21, data are adopted
Collection and preprocessing module；22, positioning and environmental modeling module；23, planning control module；24, connecting terminal；25, bottom control
Device；26, wireless sensor network anchor node；27, system server is dispatched；28, meeting avoiding space；29, tunnel；30, trackless
Rubber-tired cart；31, the positioning device that underground pedestrian carries；32, railless free-wheeled vehicle；33, downhole surveillance video camera.
Specific implementation mode
Below with reference to attached drawing, technical scheme of the present invention is described in detail.
As shown in Figures 1 and 2, the railless free-wheeled vehicle intelligent vehicle-mounted system that the present invention designs, including railless free-wheeled vehicle 1, nothing
Line sensor network nodes module 2, multi-line laser radar sensing module 3, flame-proof type infrared photography head module 4, flame proof infrared night
Depending on instrument module 5, millimetre-wave radar sensing module 6, two-dimensional laser radar sensing module 7, flame proof switch board 8, flame-proof type TOF camera
Sensing module 9, vehicle-mounted sonar sensing module 10, speed measurement module 11.Wherein, multi-line laser radar sensing module 3 is installed on
1 vehicle body upper portion of railless free-wheeled vehicle, two-dimensional laser radar sensing module 7, millimetre-wave radar sensing module 6 are installed on railless free-wheeled vehicle
Below Vehicular body front, vehicle-mounted sonar sensing module 10 is installed on vehicle body side and rear, flame-proof type infrared photography head module 4, every
Quick-fried infrared viewing device module 5, wireless sensor network node module 2 are installed on above car body, and speed measurement module 11 is installed on
At four wheels, flame-proof type TOF camera sensing module 9 is installed on vehicle rear both sides.
As shown in figure 3, flame proof switch board 8 is installed in compartment, it is divided into three chambers.Power module is installed in power source cavity
12.Installation power management module 13, current sensor 14, relay module 15, power supply conversion module 16, intrinsic safety electricity in main cavity
Source module 17, information exchange module 18, isolation module 19, inertial navigation module 20, data acquisition and preprocessing module 21, positioning
With environmental modeling module 22, planning control module 23.Wherein, power management module 13 acquires the temperature and voltage of power module 12
Signal judges cell operating status, while connecting current sensor 14 and relay module 15.Current sensor 14 acquires respectively
Each branch current feeds back to power management module 13.Power management module 13 is sentenced according to each branch current and battery information synthesis
It is disconnected, 15 break-make of control relay module.Relay module 15 includes multiple relay module, controls each non-peace and intrinsic safety electricity respectively
Road break-make.The power supply that power module exports is converted to different voltages by the power supply conversion module 16 that non-peace circuit uses, respectively
The information exchange module 18 of enclosure interior, inertial navigation module 20, data acquire and preprocessing module 21, positioning and environmental modeling
Flame-proof type infrared photography head module 4, flame-proof type infrared viewing device mould outside module 22, planning control module 23 and switch board
Block 5, flame-proof type TOF camera sensing module 9 are powered.The electricity that the intrinsic safety electric source module 17 that intrinsically safe circuit uses exports power module
Source is converted to different intrinsic safety electric source voltage, the essence peace outside the isolation module 19 and switch board respectively inside switch board
Holotype sensing module --- including multi-line laser radar sensing module 3, two-dimensional laser radar sensing module 6, millimetre-wave radar sense
Know that module 7, vehicle-mounted sonar sensing module 10, speed measurement module 11, wireless sensor network node module 2 are powered.Wire connection cavity
Install connecting terminal 24, the intrinsic safety electric source of switch board internal electric circuit, non-peace power supply, intrinsic safety signal, non-peace signal respectively with
The respective sensor interface of external electrical circuit connects.The signal wire of above-mentioned essential safe type sensing module passes through connecting terminal 24
It is connected to isolation module 19,19 inside of isolation module includes multiple signal isolation guard gratings, and letter is connected to after carrying out signal isolation
Cease Switching Module 18.20 signal wire of inertial navigation module is connected to information exchange module, and flame-proof type sensing module signal wire passes through
Connecting terminal 24 is connected to information exchange module 18.Data acquire and preprocessing module 21, positioning and environmental modeling module 22, rule
The signal wire for drawing control module 23 is connected to information exchange module 18.
The form of trackless railless free-wheeled vehicle includes but not limited to personnel in the pit's transport vehicle and equipment scraper；Vehicle itself
It can be the entirely autonomous driver patterns of directionless disk, or retain the form that steering wheel can manually be taken over.
The quantity and installation site of each sensor sensing module can be adjusted according to the practical structures of railless free-wheeled vehicle,
Including installation site and usage quantity.Each sensor sensing module can be according to the functional characteristics for selecting sensor, using difference
Explosion-proof form, such as intrinsic safety, flame proof, encapsulation etc..
As shown in figure 4, the underground vehicle based on above-mentioned railless free-wheeled vehicle intelligent vehicle-mounted system dispatches system, including setting exists
The wireless sensor network anchor node 26 of coal mine roadway both sides different location, the positioning device 31 of each underground pedestrian carrying, setting
Coal mine roadway different location downhole surveillance video camera 33 and the scheduling system server 27 in coalmine dispatching room, each nothing are set
Known to the absolute position of line sensor network anchor node 26；Railless free-wheeled vehicle in the process of moving, wireless sensor network node
The signal strength that wireless sensor network anchor node 26 is sent out in module detection tunnel, automatic network-building communication, and passed based on wireless
Sensor network carries out vehicle location, and wireless sensor network anchor node 26 is by the upload information of railless free-wheeled vehicle intelligent vehicle-mounted system
With vehicle location information by cable-network transmission to scheduling system server 27, the positioning device 31 that underground pedestrian carries passes through
Pedestrian's current location information is transmitted to scheduling system server 27 by wireless sensor network, and downhole surveillance video camera 33 monitors well
The location information of lower vehicle and pedestrian, and will monitor that information is transmitted to scheduling system server 27, scheduling system by cable network
Unite the upload information of 27 integrated treatment railless free-wheeled vehicle intelligent vehicle-mounted system of server, the location information of vehicle, pedestrian position
The monitoring information of information and downhole surveillance video camera obtains the scheduling planning scheme of underground vehicle, controls each railless free-wheeled vehicle
Operation.
The form that wireless sensor network may be used include but not limited to underground 4G, 5G network, UWB (ultra wide band),
The forms such as WIFI or the information communication mode of combined use, can be used to position simultaneously and information is transmitted.
The trackless rubber-tyred method for controlling joint operating that system is dispatched based on above-mentioned underground vehicle, is included the following steps：
(1) each flame-proof type sensing module on railless free-wheeled vehicle intelligent vehicle-mounted system and intrinsic safety sensing module acquire respectively respectively
Self-information, and the information exchange module being transferred in flame proof switch board；
(2) data acquisition receives various kinds of sensors data with preprocessing module from information exchange module, and to all kinds of numbers
According to progress time synchronization and pretreatment；
(3) positioning utilizes pretreated sensing data and underground GIS-Geographic Information System with environmental modeling module
(GIS), vehicle self poisoning and environment sensing are carried out, and establishes vehicle-periphery model；
(4) vehicle location information and ambient enviroment model are transferred to the tune of coalmine dispatching room using wireless sensor network
System server is spent, pedestrian's current location information is transmitted to by the positioning device that underground pedestrian carries by wireless sensor network
System server is dispatched, the location information of vehicle and pedestrian is further confirmed that using downhole surveillance video camera；Dispatch system service
Device carries out integrated scheduling planning using optimal scheduling strategy, export the global path planning information of each vehicle, vehicle priority and
Highest priority intervention controls information, and is sent to each vehicle by wireless sensor network；
(5) planning control module synthesis is sent using environment sensing information, vehicle performance information, scheduling system server
Global path planning information and vehicle precedence information carry out vehicle part real-time motion planning, and program results are sent to
Bottom controller；
(6) bottom controller resolves real-time motion planning as a result, sending control signals to the throttle-by-wire of vehicle, stopping
Vehicle, steering controller realize car speed control；The highest priority intervention that scheduling system server is sent directly is received simultaneously
Control information.
In step (1), wireless sensor network node module is carried out with the wireless sensor network anchor node in tunnel
Communication using wireless sensor network transmission various information and carries out wireless location；Multi-line laser radar sensing module acquires ring
Border point cloud data carries out environmental modeling, positioning and moving object detection using point cloud data and divides；Flame-proof type infrared photography
Head module automatically switches working condition according to illuminance in environment, acquires coloured image and low light environment under high illumination environment
Under infrared auxiliary gray level image, for visual modeling with positioning and target detection identify；Flame-proof type infrared viewing device module is adopted
The temperature information for collecting object in tunnel, the exact position for assisting detection underground pedestrian；Millimetre-wave radar sensing module acquires
Dynamic and static-obstacle thing information in environment, are used for moving object detection；Plane where the acquisition of two-dimensional laser radar sensing module
Obstacle information, for environmental modeling with positioning；Flame-proof type TOF camera sensing module acquires the depth and coloured silk of Environment Obstacles object
Color image information is used for rear of vehicle target identification and vehicle location；Vehicle-mounted sonar sensing module acquires the ultrasonic wave sent out
Signal, for measuring distance and vehicle location of the vehicle to surrounding objects；Speed measurement module acquisition pulse signal, for examining
It surveys and feeds back vehicle wheel rotational speed, for being positioned using reckoning, providing velocity feedback for sector planning；Inertial navigation module
Collection vehicle speed, acceleration, posture information, for carrying out vehicle location using inertial positioning method.
In step (2), wireless sensor network node module and each wireless sensor network anchor node in tunnel
Soft time synchronization is carried out using multi-hop RBS time synchronization protocols；The pretreatment profit of multi-line laser radar sensing module point cloud data
The point cloud of acquisition is smoothed with bilateral filtering, down-sampling is carried out to cloud using VoxelGrid filters, is used
StatisticalOutlier-Removal filters remove outlier；The pretreatment of flame-proof type infrared camera module data is adopted
Inhibit noise, enhancing edge with non-linear form filtering and histogram equalization operation, improves gray-level；Flame-proof type is infrared
The pretreatment of night vision device module data improves temperature pattern resolution ratio using interframe registration non-uniform correction method, and use is unsharp
Masking method enhances image；The detection information of distance, right in the pretreatment acquisition wide viewing angle of millimetre-wave radar sensing module data
Spacing wave and garbage signal, static-obstacle thing signal are rejected；The pretreatment of two-dimensional laser radar sensing module data uses
Stochastical sampling consistency (RANSAC) rejects outlier；The pretreatment of flame-proof type TOF camera sensing module data uses sampling one
The registration point pair of cause property algorithm removal mistake, divides point set；The pretreatment of vehicle-mounted sonar sensing module data is to reject data sequence
Useless noise signal in row；The pretreatment of speed measurement module data is that the rotary speed information multiple averaging to acquisition inhibits rotating speed wave
It is dynamic.All sensing modules realize time synchronization using software triggering is synchronous.
The information pre-processing and method for synchronizing time of each sensing module are not limited only to above-mentioned side in the case where function is constant
Method.
In step (3), pass through the wireless sensor network anchor node in wireless sensor network node module and tunnel
The wireless location method of composition, the three-dimensional laser SLAM methods of multi-line laser radar sensing module use, flame-proof type infrared photography
The binocular camera SLAM methods of head module use, the 2D SLAM methods of two-dimensional laser radar sensing module use, flame-proof type TOF
2D SLAM methods, the speed measurement module that the depth camera SLAM methods of camera sensing module, vehicle-mounted sonar sensing module use
In conjunction with the reckoning localization method that kinematics model carries out reckoning localization method, inertial navigation module uses, surge well
Lower GIS-Geographic Information System carries out comprehensive positioning, obtains vehicle location final result；
Point cloud cluster segmentation algorithm, the flame-proof type infrared photography head module used by multi-line laser radar sensing module is adopted
Image segmentation and Extracting of Moving Object, flame proof infrared viewing device module judge underground pedestrian position according to temperature information
The week of dynamic barrier information approach, the use of vehicle-mounted sonar sensing module that information approach, millimetre-wave radar sensing module use
Obstacle distance information approach is enclosed, vehicle-periphery perception is realized, establishes ambient enviroment model.
The method of positioning and perception environment can be imitated according to the positioning and perception of actual environment situation, sensor and algorithm
The performances such as fruit, algorithm real-time determine after carrying out overall merit, can use different sensor combinations types in varying environment,
To obtain best using effect.
In step (4), vehicle location information and ambient enviroment model are transferred to coal mine using wireless sensor network
The scheduling system server 27 in control room, and confirmed using downhole surveillance video camera 33；The optimal scheduling strategy is,
In tunnel when accessible and track switch, scheduling system server cooks up rational shortest path based on GIS map, through wireless sensing
For device network transmission to vehicle, vehicle is autonomous to carry out local paths planning and motion control according to Global motion planning path；When vehicle is
It is current according to the vehicle distances in vehicle priority and underground pedestrian position information, tunnel when will carry out meeting or encountering pedestrian
The distance synthesis of nearest meeting avoiding space 28 is scheduled planning, and the vehicle of high priority first passes through, the vehicle of low priority
Evacuation action is carried out into avoiding space 28, and slows down or stops when being less than threshold value at a distance from the pedestrian of underground, waits for that pedestrian is logical
Later continue normal operation.In the determination method of priority, manned assistant conveyance vehicle has higher priority, loading auxiliary fortune
Defeated vehicle has lower priority.
Railless free-wheeled vehicle has vehicle self-checking system, when vehicle self-checking system detects that vehicle breaks down, controls vehicle
Operation is believed fault car position to nearest meeting avoiding space or parking of directly keeping right, and using wireless sensor network
Breath and fault type, warning message send back scheduling system server, and control room monitoring personnel sends maintenance personal to reach immediately
Fault car working site repairs, while reformulating the overall situation of other vehicles by the scene of the accident or be affected by this
Planning path ensures the general work efficiency of underground assistant conveyance.
In step (5), planning control module synthesis using location information in tunnel of ambient enviroment model, vehicle,
The vehicle priority that present speed, acceleration information, gross vehicle load, floor type information and scheduling system server are sent
With global path planning information, vehicle part real-time motion planning is carried out, program results are sent to bottom controller；
In step (6), bottom controller is using vehicle kinematics Models computed real-time motion planning as a result, obtaining wheel
Rotary speed instruction sends control signals to throttle-by-wire, brake, steering controller using vehicle control bus, controls each diesel oil
Machine or motor realize car speed control；According to the vehicle behavior when preplanning, using controlling bus send headlight, taillight,
Loudspeaker, rain brush control signal；Bottom controller receives the highest priority intervention control that scheduling system server is sent simultaneously
Information in case of emergency controls vehicle emergency stop.
Embodiment is merely illustrative of the invention's technical idea, and cannot limit protection scope of the present invention with this, it is every according to
Technological thought proposed by the present invention, any change done on the basis of technical solution, each falls within the scope of the present invention.
Claims (10)
1. a kind of railless free-wheeled vehicle intelligent vehicle-mounted system, it is characterised in that：Flame proof switch board is set on railless free-wheeled vehicle, it should be every
Quick-fried switch board includes 3 cavitys：Main cavity, power source cavity and wire connection cavity；Power management module is equipped in main chamber body, electric current passes
Sensor, relay module, power supply conversion module, intrinsic safety electric source module, information exchange module, isolation module, inertial navigation module,
Data acquire and preprocessing module, positioning and environmental modeling module and planning control module；Power supply mould is equipped in the power source cavity
Block；It is equipped with intrinsic safety sensing module, flame-proof type sensing module and bottom controller in the outside of flame proof switch board；The intrinsic safety perception
Module includes wireless sensor network node module, multi-line laser radar sensing module, two-dimensional laser radar sensing module, millimeter
Wave radar sensing module, vehicle-mounted sonar sensing module and speed measurement module；The flame-proof type sensing module includes that flame-proof type is red
Outer camera module, flame-proof type infrared viewing device module and flame-proof type TOF camera sensing module；The power management module acquisition
The temperature and voltage signal of power module judge that power work state, current sensor acquire each branch current and feed back to power supply
Management module, power management module control controller module according to power supply and branch current information, and controller module includes multiple
Relay module controls the break-make of each non-peace circuit and intrinsically safe circuit respectively；Non- peace circuit converts module by power supply by power supply
The output of module is converted to different voltages, information exchange module, inertial navigation module respectively inside flame proof switch board, data
Acquisition and the flame-proof type sense outside preprocessing module, positioning and environmental modeling module, planning control module and flame proof switch board
Know module for power supply；The output of power module is converted to different intrinsic safety voltage by intrinsically safe circuit by intrinsic safety electric source module, respectively
For the isolation module inside flame proof switch board and the intrinsic safety sensing module power supply outside flame proof switch board；Installation in the wire connection cavity
Connecting terminal realizes that the connection of flame proof switch board internal circuit and external circuit, intrinsic safety sensing module pass through by connecting terminal
Connecting terminal is connected with the input terminal of isolation module, and the output end of isolation module is connected with the input terminal of information exchange module, every
Quick-fried type sensing module is connected by connecting terminal with the input terminal of information exchange module, and the output end of information exchange module connects successively
Connect data acquisition and preprocessing module, positioning and environmental modeling module and planning control module.
2. railless free-wheeled vehicle intelligent vehicle-mounted system according to claim 1, it is characterised in that：Multi-line laser radar sensing module
It is installed on the vehicle body upper portion of railless free-wheeled vehicle；Two-dimensional laser radar sensing module, millimetre-wave radar sensing module are installed on trackless
Below the Vehicular body front of rubber-tired cart；Vehicle-mounted sonar sensing module is installed on vehicle body side and rear；Flame-proof type infrared photography head mould
Block, flame-proof type infrared viewing device module, wireless sensor network node module are installed on above car body；Speed measurement module is installed
At four wheels；Flame-proof type TOF camera sensing module is installed on vehicle rear both sides；The form of railless free-wheeled vehicle includes but unlimited
In personnel in the pit's transport vehicle and equipment scraper；Railless free-wheeled vehicle is the entirely autonomous driver patterns of directionless disk, or reservation side
The form that can be manually taken over to disk.
3. the underground vehicle based on railless free-wheeled vehicle intelligent vehicle-mounted system described in claim 1 dispatches system, which is characterized in that packet
Include be arranged the positioning device carried in the wireless sensor network anchor node of coal mine roadway both sides different location, each underground pedestrian,
Be arranged coal mine roadway different location downhole surveillance video camera and the scheduling system server in coalmine dispatching room, each nothing are set
Known to the absolute position of line sensor network anchor node；Railless free-wheeled vehicle in the process of moving, wireless sensor network node mould
The signal strength that wireless sensor network anchor node is sent out in block detection tunnel, automatic network-building communication, and it is based on wireless sensor
Network carries out vehicle location, and wireless sensor network anchor node is by the upload information and vehicle of railless free-wheeled vehicle intelligent vehicle-mounted system
Location information passes through wireless sensor by cable-network transmission to system server, the positioning device that underground pedestrian carries is dispatched
Pedestrian's current location information is transmitted to scheduling system server by network, downhole surveillance camera surveillance underground vehicle and pedestrian's
Location information, and will monitor that information is transmitted to scheduling system server by cable network, dispatch system server integrated treatment
The upload information of railless free-wheeled vehicle intelligent vehicle-mounted system, the location information of vehicle, the location information of pedestrian and downhole surveillance camera shooting
The monitoring information of machine obtains the scheduling planning scheme of underground vehicle, controls the operation of each railless free-wheeled vehicle.
4. dispatching the trackless rubber-tyred method for controlling joint operating of system based on underground vehicle described in claim 3, which is characterized in that packet
Include following steps：
(1) each flame-proof type sensing module on railless free-wheeled vehicle intelligent vehicle-mounted system and intrinsic safety sensing module acquire each confidence respectively
Breath, and the information exchange module being transferred in flame proof switch board；
(2) data acquisition receives various kinds of sensors data with preprocessing module from information exchange module, and to Various types of data into
Row time synchronization and pretreatment；
(3) positioning utilizes pretreated sensing data and underground GIS-Geographic Information System with environmental modeling module, into driving
Self poisoning and environment sensing, and establish vehicle-periphery model；
(4) vehicle location information and ambient enviroment model are transferred to the scheduling system of coalmine dispatching room using wireless sensor network
Pedestrian's current location information is transmitted to scheduling by system server, the positioning device that underground pedestrian carries by wireless sensor network
System server further confirms that the location information of vehicle and pedestrian using downhole surveillance video camera；Dispatch system server profit
Integrated scheduling planning is carried out with optimal scheduling strategy, exports the global path planning information, vehicle priority and highest of each vehicle
Priority intervention controls information, and is sent to each vehicle by wireless sensor network；
(5) overall situation that planning control module synthesis is sent using environment sensing information, vehicle performance information, scheduling system server
Route planning information and vehicle precedence information carry out vehicle part real-time motion planning, and program results are sent to bottom
Controller；
(6) bottom controller resolves real-time motion planning as a result, sending control signals to the throttle-by-wire of vehicle, brake, turning
To controller, car speed control is realized；The highest priority intervention control that scheduling system server is sent directly is received simultaneously
Information.
5. trackless rubber-tyred method for controlling joint operating according to claim 4, it is characterised in that：In step (1), wireless sensing
Device network node module is communicated with the wireless sensor network anchor node in tunnel, is transmitted using wireless sensor network each
Category information and progress wireless location；Multi-line laser radar sensing module acquires environment point cloud data, and ring is carried out using point cloud data
Border modeling, positioning and moving object detection segmentation；Flame-proof type infrared photography head module automatically switches according to illuminance in environment
Working condition acquires infrared auxiliary gray level image under coloured image and the low light environment under high illumination environment, is built for vision
Mould is identified with positioning and target detection；Flame-proof type infrared viewing device module acquires the temperature information of object in tunnel, for auxiliary
Help the exact position of detection underground pedestrian；Millimetre-wave radar sensing module acquires dynamic and static-obstacle thing information in environment, uses
In moving object detection；The obstacle information of plane where the acquisition of two-dimensional laser radar sensing module, for environmental modeling and determines
Position；Flame-proof type TOF camera sensing module acquires the depth and color image information of Environment Obstacles object, knows for rear of vehicle target
Not and vehicle location；Vehicle-mounted sonar sensing module acquires the ultrasonic signal sent out, for measuring vehicle to surrounding objects
Distance and vehicle location；Speed measurement module acquisition pulse signal, for detecting and feeding back vehicle wheel rotational speed, for utilizing flight path
Reckoning is positioned, provides velocity feedback for sector planning；Inertial navigation module collection vehicle speed, acceleration, posture information,
For carrying out vehicle location using inertial positioning method.
6. trackless rubber-tyred method for controlling joint operating according to claim 5, it is characterised in that：In step (2), wireless sensing
Device network node module is carried out with each wireless sensor network anchor node in tunnel using multi-hop RBS time synchronization protocols soft
Time synchronization；The pretreatment of multi-line laser radar sensing module point cloud data carries out the point cloud of acquisition using bilateral filtering smooth
Processing carries out down-sampling to cloud using VoxelGrid filters, uses StatisticalOutlier-Removal filters
Remove outlier；The pretreatment of flame-proof type infrared camera module data is filtered using non-linear form and histogram equalization
Operation inhibits noise, enhancing edge, improves gray-level；The pretreatment of flame-proof type infrared viewing device module data is matched using interframe
Quasi- non-uniform correction method improves temperature pattern resolution ratio, enhances image using unsharp masking method；Millimetre-wave radar perceives
The detection information of distance in the pretreatment acquisition wide viewing angle of module data, to spacing wave and garbage signal, static-obstacle thing signal
It is rejected；The pretreatment of two-dimensional laser radar sensing module data rejects outlier using stochastical sampling consistency；Flame-proof type
The pretreatment of TOF camera sensing module data removes the registration point pair of mistake using sampling consistency algorithm, divides point set；It is vehicle-mounted
The pretreatment of sonar sensing module data is to reject useless noise signal in data sequence；The pretreatment of speed measurement module data
It is the rotary speed information multiple averaging inhibition fluctuation of speed to acquisition.
7. according to the trackless rubber-tyred method for controlling joint operating of claim 5 or 6, it is characterised in that：In step (3), pass through
The wireless location method of wireless sensor network anchor node composition in wireless sensor network node module and tunnel multi-thread swashs
The binocular camera side SLAM of three-dimensional laser SLAM methods, the use of flame-proof type infrared photography head module that optical radar sensing module uses
The depth camera SLAM of method, the 2D SLAM methods that two-dimensional laser radar sensing module uses, flame-proof type TOF camera sensing module
Method, the 2D SLAM methods of vehicle-mounted sonar sensing module use, speed measurement module combination kinematics model carry out reckoning
The reckoning localization method that localization method, inertial navigation module use, GIS-Geographic Information System carries out comprehensive positioning under surge well,
Obtain vehicle location final result；
Point cloud cluster segmentation algorithm, the flame-proof type infrared photography head module used by multi-line laser radar sensing module uses
Image segmentation and Extracting of Moving Object, flame proof infrared viewing device module judge underground pedestrian position information according to temperature information
Method, the dynamic barrier information approach of millimetre-wave radar sensing module use, vehicle-mounted sonar sensing module hinder around using
Hinder object apart from information approach, realizes vehicle-periphery perception, establish ambient enviroment model.
8. according to any one of the claim 4-6 trackless rubber-tyred method for controlling joint operating, it is characterised in that：In step
(4) in, vehicle location information and ambient enviroment model are transferred to the scheduling system of coalmine dispatching room using wireless sensor network
System server, and confirmed using downhole surveillance video camera；The optimal scheduling strategy is accessible in tunnel and track switch
When, scheduling system server cooks up rational shortest path based on GIS map, and vehicle is transferred to through wireless sensor network,
Vehicle is autonomous to carry out local paths planning and motion control according to Global motion planning path；When vehicle will carry out meeting or encounter
When pedestrian, according to the current nearest meeting avoiding space of the vehicle distances in vehicle priority and underground pedestrian position information, tunnel
Distance synthesis be scheduled planning, the vehicle of high priority first passes through, and the vehicle of low priority enters avoiding space and kept away
It allows action, and slows down when being less than threshold value at a distance from the pedestrian of underground or parking, continue normal operation after pedestrian passes through.
9. trackless rubber-tyred method for controlling joint operating according to claim 8, it is characterised in that：Railless free-wheeled vehicle has vehicle certainly
Check system, when vehicle self-checking system detects that vehicle breaks down, control vehicle run to nearest meeting avoiding space or
Direct parking of keeping right, and sent back fault car location information and fault type, warning message using wireless sensor network
System server is dispatched, control room monitoring personnel is sent maintenance personal to reach fault car working site and repaired immediately, together
When reformulate the Global motion planning paths of other vehicles by the scene of the accident or be affected by this, ensure underground assistant conveyance
General work efficiency.
10. according to trackless rubber-tyred method for controlling joint operating described in claim 4-6, it is characterised in that：In step (5), planning
Control module comprehensively utilizes location information in tunnel of ambient enviroment model, vehicle, present speed, acceleration information, vehicle
The vehicle priority and global path planning information that total weight, floor type information and scheduling system server are sent, carry out
Program results are sent to bottom controller by vehicle part real-time motion planning；
In step (6), bottom controller is using vehicle kinematics Models computed real-time motion planning as a result, obtaining vehicle wheel rotational speed
Instruction, send control signals to throttle-by-wire, brake, steering controller using vehicle control bus, control each diesel engine or
Motor realizes car speed control；According to the vehicle behavior when preplanning, headlight, taillight, loudspeaker are sent using controlling bus
, rain brush control signal；Bottom controller receives the highest priority intervention control letter that scheduling system server is sent simultaneously
Breath in case of emergency controls vehicle emergency stop.
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| CN109507969A (en) * | 2018-12-11 | 2019-03-22 | 大同煤矿集团有限责任公司 | A kind of coal mine railless free-wheeled vehicle intelligent distribution and management system |
| CN109542097A (en) * | 2018-10-24 | 2019-03-29 | 中国矿业大学 | The unmanned railless free-wheeled vehicle in underground and its travel control method of infrared top set tracking |
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