CN108345305B - Intelligent vehicle-mounted system of trackless rubber-tyred vehicle, underground vehicle scheduling system and control method - Google Patents

Abstract

The invention discloses an intelligent vehicle-mounted system of a trackless rubber-tyred vehicle, an underground vehicle dispatching system and a control method. The intelligent vehicle-mounted system of the trackless rubber-tyred vehicle is characterized in that an explosion-proof control cabinet is arranged on the trackless rubber-tyred vehicle and is divided into a main cavity body, a power supply cavity and a wiring cavity, wherein a power supply management module, an information exchange module, an isolation module, an inertial navigation module, a data acquisition and preprocessing module, a positioning and environment modeling module and a planning control module are arranged in the main cavity body; an intrinsic safety sensing module, an explosion-proof type sensing module and a bottom layer controller are arranged outside the explosion-proof control cabinet. The underground vehicle dispatching system comprises wireless sensor network anchor nodes arranged at different positions of a roadway, a positioning device carried by underground pedestrians, an underground monitoring camera and a dispatching system server. The operation control method of the trackless rubber-tyred vehicle is constructed based on the trackless rubber-tyred vehicle intelligent vehicle-mounted system and the underground vehicle dispatching system. The invention realizes the autonomous driving and intelligent dispatching of the trackless rubber-tyred vehicle and improves the safety and the high efficiency of the auxiliary transportation.

Description

Intelligent vehicle-mounted system of trackless rubber-tyred vehicle, underground vehicle scheduling system and control method

Technical Field

The invention belongs to the field of coal mine auxiliary transportation equipment, and particularly relates to an intelligent vehicle-mounted system of a trackless rubber-tyred vehicle, an underground vehicle dispatching system and a control method.

Background

The coal mine auxiliary transportation equipment undertakes transportation tasks of various production data including personnel, materials, tools, equipment, gangue and the like besides coal transportation, and is important equipment for coal mine production enterprises. The trackless rubber-tyred car works in each panel area and a large roadway and carries out personnel and equipment transportation or material and equipment shoveling transportation. With the improvement of coal mining conditions in China, in mines with better conditions, the equipment can be directly driven into the large lane of each panel along the inclined shaft from the ground. The trackless rubber-tyred vehicle is more and more widely applied to equipment and personnel transportation due to high efficiency, maneuverability, safety and strong carrying capacity.

At present, trackless rubber-tyred vehicles are usually driven manually by professionals. Because each panel area and the mine passage of the coal mine are complicated and intricate, the transportation distance is long, the working time is indefinite, fatigue driving is easy to occur to drivers, and huge potential safety hazards are caused to the transportation of the personnel and the equipment; the illumination condition of a coal mine tunnel is poor, the environment is severe, the tunnel space is limited, static or moving objects such as miners, production equipment and other transport vehicles exist, and safety threat is also caused to the safety of the miners and the equipment only by the driving of personnel; the existing underground dispatching system is only used for basic overall mission planning and basic information monitoring of personnel and equipment, when vehicles meet in a narrow roadway and temporary vehicles are added into a roadway network, drivers of two parties of the meeting need to indicate in modes of whistling, lighting and the like, one vehicle returns to the nearest avoidance space to avoid, auxiliary transportation efficiency is reduced, and safety problems are caused.

In recent years, the unmanned technology has gradually become a hot spot of domestic and foreign research, and unmanned automobiles running in urban and field environments appear. The unmanned technology is applied to the auxiliary transport vehicle, so that the working strength of a driver can be reduced, the driving safety and the autonomy are improved, the intelligent management system can be conveniently accessed to the mine for unified scheduling, and the unmanned mine has great significance for mine unmanned management. However, the existing unmanned system can only be used in an overground structured environment, cannot be directly mounted on a trackless rubber-tyred vehicle for application, and is not suitable for a coal mine environment with explosive gas.

The design of the intelligent driving system of the trackless rubber-tyred vehicle is mainly shown in the following aspects:

(1) the coal mine auxiliary transport vehicle and various electrical equipment carried by the coal mine auxiliary transport vehicle must meet the indexes of coal mine safety regulation regulations and GB3836 explosive environment series standards, and all the equipment must strictly meet the requirements of explosion-proof safety. At present, the ground unmanned system does not have products and designs which can meet the requirements and can not be directly applied to the underground environment;

(2) the underground environment illumination is low, coal dust, water vapor and the like exist in a working scene, the performance of sensors such as vision, laser, infrared, ultrasonic and the like can be greatly influenced, and the reliability of sensing and positioning by depending on a single type of sensor is insufficient;

(3) underground roadways are complicated and complicated, positioning cannot be performed by using equipment such as a GPS (global positioning system) used by a ground unmanned vehicle, signals sent by sensors for communication and sensing can be shielded and absorbed, and multipath effects exist, so that great challenges are brought to reliable positioning and sensing safety of auxiliary transport vehicles, safety accidents caused by communication interruption can exist when vehicles are remotely controlled directly from a dispatching room, and the vehicles need to have autonomous sensing, local motion planning and control capabilities.

(4) The coal mine auxiliary transport vehicle has complex working scene, limited roadway width, drivable area and rotation and avoidance range, possibly has obstacles such as miners, moving vehicles, static equipment and the like, brings great difficulty to autonomous driving of the vehicle, only depends on the vehicle to sense and control, and when the vehicles meet, temporarily add and the like, one vehicle needs to return to the nearest avoidance space, so that the overall auxiliary transport efficiency is reduced, and an intelligent scheduling system for unified scheduling is needed;

(5) the current dispatching system of the underground dispatching room mainly monitors basic information of personnel and equipment states, the monitoring of trackless rubber-tyred vehicles and other vehicles is generally camera fixed-point monitoring, accurate positions of the vehicles cannot be continuously obtained, and the current dispatching strategy is only formulated for a simple task plan, cannot guide optimal paths and task planning of the vehicles, and cannot further improve underground auxiliary transportation efficiency from the track planning and control level of the vehicles.

To sum up, the trackless rubber-tyred vehicle intelligent driving system and the dispatching system need the trackless rubber-tyred vehicle to meet the requirements of explosion-proof safety on one hand, and must have reliable sensing, positioning, motion planning and control capabilities, and must have redundant sensor systems to ensure the above capabilities. On the other hand, a highly automatic and intelligent scheduling system is required to carry out unified planning and management on the auxiliary transportation of the underground trackless rubber-tyred vehicle. At present, the ground and other types of vehicle intelligent driving systems do not have the capacity and cannot be directly used in the environment.

Disclosure of Invention

In order to solve the technical problems in the prior art, the invention aims to provide an intelligent vehicle-mounted system of a trackless rubber-tyred vehicle, an underground vehicle dispatching system and a control method, so that the autonomous driving and intelligent dispatching of the trackless rubber-tyred vehicle are realized, and the safety and the efficiency of auxiliary transportation are improved.

In order to achieve the technical purpose, the technical scheme of the invention is as follows:

the utility model provides a trackless rubber-tyred car intelligence driving system sets up the flame proof switch board on the trackless rubber-tyred car, and this flame proof switch board includes 3 cavitys: the main cavity body, the power supply cavity and the wiring cavity; the main cavity is internally provided with a power supply management module, a current sensor, a relay module, a power supply conversion module, an intrinsic safety power supply module, an information exchange module, an isolation module, an inertial navigation module, a data acquisition and preprocessing module, a positioning and environment modeling module and a planning control module; a power supply module is arranged in the power supply cavity; an intrinsic safety sensing module, an explosion-proof type sensing module and a bottom layer controller are arranged outside the explosion-proof control cabinet; the intrinsic safety perception module comprises a wireless sensor network node module, a multi-line laser radar perception module, a two-dimensional laser radar perception module, a millimeter wave radar perception module, a vehicle-mounted sonar perception module and a speed measurement module; the explosion-proof sensing module comprises an explosion-proof infrared camera module, an explosion-proof infrared night vision device module and an explosion-proof TOF camera sensing module; the power supply management module collects temperature and voltage signals of the power supply module to judge the working state of the power supply, the current sensor collects current of each branch and feeds the current back to the power supply management module, the power supply management module controls the controller module according to the information of the power supply and the current of the branch, and the controller module comprises a plurality of relay modules which respectively control the on-off of each non-safety circuit and the intrinsic safety circuit; the non-safety circuit converts the output of the power supply module into different voltages through the power supply conversion module, and supplies power to the information exchange module, the inertial navigation module, the data acquisition and preprocessing module, the positioning and environment modeling module, the planning control module and the explosion-proof sensing module outside the explosion-proof control cabinet inside the explosion-proof control cabinet respectively; the intrinsically safe circuit converts the output of the power module into different intrinsically safe voltages through the intrinsically safe power module, and supplies power to the isolation module inside the explosion-proof control cabinet and the intrinsically safe sensing module outside the explosion-proof control cabinet respectively; the wiring cavity is internally provided with a wiring terminal, the connection between an internal circuit and an external circuit of the explosion-proof control cabinet is realized through the wiring terminal, the intrinsic safety sensing module is connected with the input end of the isolation module through the wiring terminal, the output end of the isolation module is connected with the input end of the information exchange module, the explosion-proof sensing module is connected with the input end of the information exchange module through the wiring terminal, and the output end of the information exchange module is sequentially connected with the data acquisition and preprocessing module, the positioning and environment modeling module and the planning control module.

Furthermore, the multi-line laser radar sensing module is arranged on the upper part of the trolley body of the trackless rubber-tyred vehicle; the two-dimensional laser radar sensing module and the millimeter wave radar sensing module are arranged below the front part of the trolley body of the trackless rubber-tyred vehicle; the vehicle-mounted sonar perception modules are mounted on the side and the rear of the vehicle body; the explosion-proof type infrared camera module, the explosion-proof type infrared night vision device module and the wireless sensor network node module are arranged above the vehicle body; the speed measuring module is arranged at the four wheels; and the flame-proof type TOF camera sensing modules are arranged on two sides behind the vehicle. Trackless rubber-tyred vehicles take the form of, but not limited to, underground personnel carriers and equipment scrapers; the trackless rubber-tyred car is in a completely autonomous driving mode without a steering wheel or in a mode that the steering wheel is kept to be manually connected.

The underground vehicle dispatching system based on the trackless rubber-tyred vehicle intelligent vehicle-mounted system comprises wireless sensor network anchor nodes arranged at different positions on two sides of a coal mine tunnel, a positioning device carried by people going down a well, underground monitoring cameras arranged at different positions of the coal mine tunnel and a dispatching system server arranged in a coal mine dispatching room, wherein the absolute position of each wireless sensor network anchor node is known; during the running process of the trackless rubber-tyred vehicle, a wireless sensor network node module detects the signal intensity sent by a wireless sensor network anchor node in a roadway, automatic networking communication is carried out, and vehicle positioning is carried out based on a wireless sensor network, the wireless sensor network anchor node transmits uploading information and vehicle positioning information of an intelligent vehicle-mounted system of the trackless rubber-tyred vehicle to a dispatching system server through a wired network, a positioning device carried by a pedestrian underground transmits the current position information of the pedestrian to the dispatching system server through the wireless sensor network, an underground monitoring camera monitors the position information of the underground vehicle and the pedestrian and transmits the monitoring information to the dispatching system server through the wired network, the dispatching system server comprehensively processes the uploading information, the positioning information of the vehicle, the position information of the pedestrian and the monitoring information of the underground monitoring camera of the trackless rubber-tyred vehicle intelligent vehicle-mounted system, and obtaining a scheduling planning scheme of the underground vehicles, and controlling the operation of each trackless rubber-tyred vehicle.

The trackless rubber-tyred vehicle operation control method based on the underground vehicle dispatching system comprises the following steps:

(1) the explosion-proof sensing modules and the intrinsic safety sensing modules on the intelligent vehicle-mounted system of the trackless rubber-tyred vehicle respectively acquire respective information and transmit the information to the information exchange module in the explosion-proof control cabinet;

(2) the data acquisition and preprocessing module receives various sensor data from the information exchange module and performs time synchronization and preprocessing on the various data;

(3) the positioning and environment modeling module is used for positioning and sensing the vehicle and the environment by utilizing the preprocessed sensor data and an underground geographic information system, and establishing a vehicle surrounding environment model;

(4) the method comprises the steps that vehicle positioning information and a surrounding environment model are transmitted to a dispatching system server of a coal mine dispatching room through a wireless sensor network, a positioning device carried by an underground pedestrian transmits the current position information of the pedestrian to the dispatching system server through the wireless sensor network, and the position information of the vehicle and the pedestrian is further confirmed through an underground monitoring camera; the scheduling system server performs overall scheduling planning by using the optimal scheduling strategy, outputs global path planning information, vehicle priority and highest priority intervention control information of each vehicle, and sends the global path planning information, the vehicle priority and the highest priority intervention control information to each vehicle through a wireless sensor network;

(5) the planning control module comprehensively utilizes the environment perception information, the vehicle performance information, the global path planning information and the vehicle priority information sent by the scheduling system server to plan the local real-time motion of the vehicle and send a planning result to the bottom controller;

(6) the bottom layer controller resolves a real-time motion planning result, and sends control signals to a wire control accelerator, a brake and a steering controller of the vehicle to realize vehicle speed control; and directly receiving the highest priority intervention control information sent by the scheduling system server.

Further, in the step (1), the wireless sensor network node module communicates with a wireless sensor network anchor node in the roadway, and various information is transmitted and wireless positioning is carried out by utilizing the wireless sensor network; the multi-line laser radar sensing module collects environmental point cloud data, and the point cloud data is utilized to carry out environmental modeling, positioning and moving target detection and segmentation; the explosion-proof infrared camera module automatically switches working states according to illuminance in the environment, acquires a color image in a high-illuminance environment and an infrared auxiliary gray image in a low-illuminance environment, and is used for visual modeling and positioning and target detection and identification; the explosion-proof infrared night vision device module is used for acquiring temperature information of objects in a roadway and assisting in detecting the accurate position of an underground pedestrian; the millimeter wave radar sensing module collects dynamic and static obstacle information in the environment and is used for detecting a moving target; the two-dimensional laser radar sensing module collects barrier information of a plane where the two-dimensional laser radar sensing module is located and is used for environment modeling and positioning; the method comprises the following steps that a flame-proof type TOF camera sensing module collects depth and color image information of an environmental barrier and is used for identifying a rear target of a vehicle and positioning the vehicle; the vehicle-mounted sonar perception module is used for collecting the sent ultrasonic signals and measuring the distance from the vehicle to surrounding objects and positioning the vehicle; the speed measurement module collects pulse signals, is used for detecting and feeding back the rotating speed of the wheel, and is used for positioning by using dead reckoning and providing speed feedback for local planning; the inertial navigation module collects vehicle speed, acceleration and attitude information and is used for positioning the vehicle by using an inertial positioning method.

Further, in the step (2), the wireless sensor network node module and each wireless sensor network anchor node in the roadway perform soft time synchronization by using a multi-hop RBS time synchronization protocol; preprocessing point cloud data of a multi-line laser radar sensing module, smoothing the acquired point cloud by utilizing bilateral filtering, downsampling the point cloud by utilizing a Voxelgrid filter, and removing outliers by utilizing a stateticalOutlier-Removal filter; the data of the explosion-proof infrared camera module is preprocessed by adopting nonlinear morphological filtering and histogram equalization operation to inhibit noise, enhance edges and improve gray level; preprocessing the data of the explosion-proof infrared night vision device module, improving the resolution of a temperature image by adopting an inter-frame registration non-uniform correction method, and enhancing the image by adopting an unsharp mask method; preprocessing data of a millimeter wave radar sensing module, collecting detection information of distance in a wide view angle, and removing an empty signal, a useless signal and a static obstacle signal; preprocessing the data of the two-dimensional laser radar sensing module, and removing outliers by using random sampling consistency; preprocessing data of the flame-proof type TOF camera sensing module, and removing wrong registration point pairs and dividing point sets by using a sampling consistency algorithm; preprocessing data of the vehicle-mounted sonar perception module is to remove useless noise signals in a data sequence; the preprocessing of the data of the speed measurement module is to averagely inhibit the fluctuation of the rotating speed for a plurality of times on the collected rotating speed information.

Further, in the step (3), a wireless positioning method consisting of a wireless sensor network node module and a wireless sensor network anchor node in a roadway, a three-dimensional laser SLAM method adopted by a multi-line laser radar sensing module, a binocular camera SLAM method adopted by an explosion-proof infrared camera module, a 2D SLAM method adopted by a two-dimensional laser radar sensing module, a depth camera SLAM method adopted by an explosion-proof TOF camera sensing module, a 2D SLAM method adopted by a vehicle-mounted sonar sensing module, a track dead reckoning and positioning method adopted by a speed measuring module and a kinematics model are combined, comprehensive positioning is carried out by combining an underground geographic information system, and a final vehicle positioning result is obtained;

the sensing of the surrounding environment of the vehicle is realized and a surrounding environment model is established by a point cloud clustering segmentation algorithm adopted by a multi-line laser radar sensing module, an image segmentation and moving target extraction method adopted by an explosion-proof type infrared camera module, a method for judging the position information of underground pedestrians by an explosion-proof infrared night vision device module according to temperature information, a dynamic obstacle information method adopted by a millimeter wave radar sensing module and a surrounding obstacle distance information method adopted by a vehicle-mounted sonar sensing module.

Further, in the step (4), the vehicle positioning information and the surrounding environment model are transmitted to a dispatching system server of a coal mine dispatching room by using a wireless sensor network, and are confirmed by using a downhole monitoring camera; the optimal scheduling strategy is that when no obstacle or turnout exists in a roadway, a scheduling system server plans out a reasonable shortest path based on a GIS map, the shortest path is transmitted to a vehicle through a wireless sensor network, and the vehicle autonomously performs local path planning and motion control according to a globally planned path; when vehicles are about to meet or meet pedestrians, scheduling planning is comprehensively carried out according to the priority of the vehicles, the position information of the underground pedestrians and the distance between the vehicles in the roadway and the current nearest meeting avoidance space, the vehicles with high priority pass through first, the vehicles with low priority enter the avoidance space to carry out avoidance action, the vehicles are decelerated or stopped when the distance between the vehicles and the underground pedestrians is smaller than a threshold value, and the vehicles continue to normally run after passing through.

Furthermore, the trackless rubber-tyred vehicle is provided with a vehicle self-checking system, when the vehicle self-checking system detects that the vehicle has a fault, the vehicle is controlled to move to a nearest meeting vehicle avoiding space or directly stops at the right side, the position information, the fault type and the alarm information of the fault vehicle are sent back to a dispatching system server by using a wireless sensor network, a monitoring personnel in a dispatching room immediately sends a maintenance personnel to a working site of the fault vehicle for maintenance, and simultaneously reformulates the global planning path of other vehicles passing through the working site of the fault vehicle or influenced by the fault vehicle, so that the overall working efficiency of underground auxiliary transportation is ensured.

Further, in the step (5), the planning control module comprehensively utilizes the surrounding environment model, the positioning information of the vehicle in the roadway, the current speed, the acceleration information, the total weight of the vehicle, the ground type information and the vehicle priority and global path planning information sent by the scheduling system server to plan the local real-time motion of the vehicle, and sends the planning result to the bottom controller;

in the step (6), the bottom controller utilizes a vehicle kinematics model to calculate a real-time motion planning result to obtain a wheel rotating speed instruction, and utilizes a vehicle control bus to send a control signal to a linear control accelerator, a brake and a steering controller to control each diesel engine or motor so as to realize vehicle speed control; sending control signals of a front lamp, a tail lamp, a loudspeaker and a wiper by using a control bus according to the currently planned vehicle behavior; and the bottom controller simultaneously receives the highest priority intervention control information sent by the dispatching system server and controls the vehicle to suddenly stop in an emergency.

Adopt the beneficial effect that above-mentioned technical scheme brought:

the intelligent trackless rubber-tyred vehicle designed by the invention has redundant sensing and positioning sensors, overcomes the safety problem of sensing and positioning by relying on a single sensor, ensures the reliable sensing and positioning capability of the vehicle in a severe underground environment, and is designed to meet the explosion-proof safety requirement of mining equipment. The system can perform local autonomous planning according to the information of roadway road condition obtained by autonomous perception, the global planning result sent by a background management system of a coal mine dispatching room, dynamic and static barriers in the environment and the like, realizes the motion planning and control of vehicles, and improves the autonomy and safety of the trackless rubber-tyred vehicle driving. The dispatching system server integrates the current position and destination information of each intelligent driving trackless rubber-tyred vehicle, the position information of underground personnel and underground GIS information, the overall task target of the mine auxiliary transportation system is formulated and planned by using an optimal dispatching method, the overall coordination and intelligent dispatching of the underground auxiliary transportation system are realized, and the monitoring range and the monitoring capacity of a background to vehicles are improved. The intelligent driving system and the dispatching method of the trackless rubber-tyred vehicle eliminate potential safety hazards caused by improper driving of a driver, improve the safety of personnel and equipment, greatly improve the production efficiency of mine auxiliary transportation, improve the automation and intelligence level of the mine auxiliary transportation, and provide a good interface for unified management of underground production activities.

Drawings

FIG. 1 is a front isometric view of the vehicle apparatus of the present invention installed;

FIG. 2 is a rear isometric view of the vehicle apparatus of the present invention installed;

FIG. 3 is a diagram of the system architecture and module connections of the present invention;

FIG. 4 is a schematic diagram of the dispatching principle of the underground trackless auxiliary transportation system of the invention;

description of reference numerals: 1. a trackless rubber-tyred vehicle; 2. a wireless sensor network node module; 3. a multiline laser radar sensing module; 4. the flame-proof type infrared camera module; 5. an explosion-proof infrared night vision device module; 6. a millimeter wave radar sensing module; 7. a two-dimensional laser radar sensing module; 8. an explosion-proof control cabinet; 9. the flame-proof type TOF camera sensing module; 10. a vehicle-mounted sonar perception module; 11 a speed measurement module; 12. a power supply module; 13. a power management module; 14. a current sensor; 15. a relay module; 16. a power conversion module; 17. an intrinsic safety power supply module; 18. an information exchange module; 19. an isolation module; 20. an inertial navigation module; 21. a data acquisition and preprocessing module; 22. a positioning and environment modeling module; 23. a planning control module; 24. a wiring terminal; 25. a floor controller; 26. a wireless sensor network anchor node; 27. a scheduling system server; 28. a meeting avoiding space; 29. a roadway; 30. a trackless rubber-tyred vehicle; 31. a positioning device carried by a pedestrian underground; 32. a trackless rubber-tyred vehicle; 33. a downhole surveillance camera.

Detailed Description

The technical scheme of the invention is explained in detail in the following with the accompanying drawings.

As shown in the figures 1 and 2, the intelligent vehicle-mounted system of the trackless rubber-tyred vehicle comprises a trackless rubber-tyred vehicle 1, a wireless sensor network node module 2, a multi-line laser radar sensing module 3, an explosion-proof infrared camera module 4, an explosion-proof infrared night vision device module 5, a millimeter wave radar sensing module 6, a two-dimensional laser radar sensing module 7, an explosion-proof control cabinet 8, an explosion-proof TOF camera sensing module 9, a vehicle-mounted sonar sensing module 10 and a speed measuring module 11. Wherein, multi-thread laser radar perception module 3 is installed in 1 automobile body upper portion of trackless rubber-tyred car, two-dimensional laser radar perception module 7, millimeter wave radar perception module 6 is installed in trackless rubber-tyred car automobile body front portion below, on-vehicle sonar perception module 10 is installed in automobile body side and rear, flame proof type infrared camera module 4, flame proof infrared night-time vision device module 5, wireless sensor network node module 2 is installed in the automobile body top, speed measurement module 11 is installed in four wheel departments, flame proof type TOF camera perception module 9 is installed in car rear both sides.

As shown in FIG. 3, the flameproof control cabinet 8 is installed in the carriage and is divided into three chambers. A power module 12 is mounted in the power cavity. A power management module 13, a current sensor 14, a relay module 15, a power conversion module 16, an intrinsic safety power module 17, an information exchange module 18, an isolation module 19, an inertial navigation module 20, a data acquisition and preprocessing module 21, a positioning and environment modeling module 22 and a planning control module 23 are arranged in the main cavity. The power management module 13 collects the temperature and voltage signals of the power module 12 to determine the working state of the battery, and is connected to the current sensor 14 and the relay module 15. The current sensor 14 collects the current of each branch circuit and feeds the current back to the power management module 13. The power management module 13 comprehensively judges according to the current of each branch and the battery information, and controls the on-off of the relay module 15. The relay module 15 includes a plurality of relay modules, which respectively control the on/off of each of the non-safety circuits and the intrinsic safety circuits. The power supply conversion module 16 used by the non-safety circuit converts the power supply output by the power supply module into different voltages, and supplies power to the information exchange module 18, the inertial navigation module 20, the data acquisition and preprocessing module 21, the positioning and environment modeling module 22, the planning control module 23, the explosion-proof infrared camera module 4, the explosion-proof infrared night vision device module 5 and the explosion-proof TOF camera sensing module 9 inside the shell respectively. The intrinsic safety power module 17 used by the intrinsic safety circuit converts the power output by the power module into different intrinsic safety power voltages, and supplies power to the isolation module 19 inside the control cabinet and the intrinsically safe sensing module outside the control cabinet, including the multi-line laser radar sensing module 3, the two-dimensional laser radar sensing module 6, the millimeter wave radar sensing module 7, the vehicle-mounted sonar sensing module 10, the speed measuring module 11 and the wireless sensor network node module 2. The wiring cavity is provided with a wiring terminal 24, and an intrinsic safety power supply, an intrinsic safety signal and an intrinsic safety signal of an electric circuit in the control cabinet are respectively connected with corresponding sensor interfaces of an external electric circuit. The signal line of the intrinsically safe sensing module is connected to the isolation module 19 through a wiring terminal 24, and the isolation module 19 internally comprises a plurality of signal isolation safety gates which are connected to the information exchange module 18 after signal isolation. The signal wire of the inertial navigation module 20 is connected to the information exchange module, and the signal wire of the explosion-proof sensing module is connected to the information exchange module 18 through a wiring terminal 24. The signal lines of the data acquisition and preprocessing module 21, the positioning and environment modeling module 22 and the planning control module 23 are connected to the information exchange module 18.

Trackless rubber-tyred vehicles include, but are not limited to, underground personnel carriers and equipment scrapers; the vehicle itself may be in the form of a completely autonomous drive without a steering wheel, or it may remain in a form in which the steering wheel can be manually taken over.

The number and the installation position of each sensor sensing module can be adjusted according to the actual structure of the trackless rubber-tyred vehicle, and the installation position and the use number of the sensor sensing modules are included. Each sensor sensing module can adopt different explosion-proof forms, such as intrinsic safety, explosion suppression, encapsulation and the like, according to the functional characteristics of the selected sensor.

As shown in fig. 4, the underground vehicle dispatching system based on the trackless rubber-tyred vehicle intelligent vehicle-mounted system comprises wireless sensor network anchor nodes 26 arranged at different positions on two sides of a coal mine tunnel, a positioning device 31 carried by each person going down a well, underground monitoring cameras 33 arranged at different positions of the coal mine tunnel and a dispatching system server 27 arranged in a coal mine dispatching room, wherein the absolute positions of the wireless sensor network anchor nodes 26 are known; during the driving process of the trackless rubber-tyred vehicle, the wireless sensor network node module detects the signal intensity sent by the wireless sensor network anchor node 26 in the roadway, the automatic networking communication is carried out, and the vehicle positioning is carried out based on the wireless sensor network, the wireless sensor network anchor node 26 transmits the uploading information and the vehicle positioning information of the trackless rubber-tyred vehicle intelligent vehicle-mounted system to the dispatching system server 27 through the wired network, the positioning device 31 carried by the underground pedestrian transmits the current position information of the pedestrian to the dispatching system server 27 through the wireless sensor network, the underground monitoring camera 33 monitors the position information of the underground vehicle and the pedestrian and transmits the monitoring information to the dispatching system server 27 through the wired network, the dispatching system server 27 comprehensively processes the uploading information, the positioning information of the vehicle, the position information of the pedestrian and the monitoring information of the underground monitoring camera, and obtaining a scheduling planning scheme of the underground vehicles, and controlling the operation of each trackless rubber-tyred vehicle.

The wireless sensor network can adopt forms including but not limited to 4G, 5G network in the pit, UWB (ultra wide band), WIFI etc. form or the information communication mode who combines to use, can be used for location and information transmission simultaneously.

The trackless rubber-tyred vehicle operation control method based on the underground vehicle dispatching system comprises the following steps:

(1) the explosion-proof sensing modules and the intrinsic safety sensing modules on the intelligent vehicle-mounted system of the trackless rubber-tyred vehicle respectively acquire respective information and transmit the information to the information exchange module in the explosion-proof control cabinet;

(2) the data acquisition and preprocessing module receives various sensor data from the information exchange module and performs time synchronization and preprocessing on the various data;

(3) the positioning and environment modeling module is used for positioning and sensing the vehicle and the environment by utilizing the preprocessed sensor data and a Geographic Information System (GIS) in the well, and establishing a vehicle surrounding environment model;

(4) the method comprises the steps that vehicle positioning information and a surrounding environment model are transmitted to a dispatching system server of a coal mine dispatching room through a wireless sensor network, a positioning device carried by an underground pedestrian transmits the current position information of the pedestrian to the dispatching system server through the wireless sensor network, and the position information of the vehicle and the pedestrian is further confirmed through an underground monitoring camera; the scheduling system server performs overall scheduling planning by using the optimal scheduling strategy, outputs global path planning information, vehicle priority and highest priority intervention control information of each vehicle, and sends the global path planning information, the vehicle priority and the highest priority intervention control information to each vehicle through a wireless sensor network;

(5) the planning control module comprehensively utilizes the environment perception information, the vehicle performance information, the global path planning information and the vehicle priority information sent by the scheduling system server to plan the local real-time motion of the vehicle and send a planning result to the bottom controller;

(6) the bottom layer controller resolves a real-time motion planning result, and sends control signals to a wire control accelerator, a brake and a steering controller of the vehicle to realize vehicle speed control; and directly receiving the highest priority intervention control information sent by the scheduling system server.

In the step (1), the wireless sensor network node module communicates with a wireless sensor network anchor node in a roadway, and various information is transmitted and wireless positioning is carried out by utilizing a wireless sensor network; the multi-line laser radar sensing module collects environmental point cloud data, and the point cloud data is utilized to carry out environmental modeling, positioning and moving target detection and segmentation; the explosion-proof infrared camera module automatically switches working states according to illuminance in the environment, acquires a color image in a high-illuminance environment and an infrared auxiliary gray image in a low-illuminance environment, and is used for visual modeling and positioning and target detection and identification; the explosion-proof infrared night vision device module is used for acquiring temperature information of objects in a roadway and assisting in detecting the accurate position of an underground pedestrian; the millimeter wave radar sensing module collects dynamic and static obstacle information in the environment and is used for detecting a moving target; the two-dimensional laser radar sensing module collects barrier information of a plane where the two-dimensional laser radar sensing module is located and is used for environment modeling and positioning; the method comprises the following steps that a flame-proof type TOF camera sensing module collects depth and color image information of an environmental barrier and is used for identifying a rear target of a vehicle and positioning the vehicle; the vehicle-mounted sonar perception module is used for collecting the sent ultrasonic signals and measuring the distance from the vehicle to surrounding objects and positioning the vehicle; the speed measurement module collects pulse signals, is used for detecting and feeding back the rotating speed of the wheel, and is used for positioning by using dead reckoning and providing speed feedback for local planning; the inertial navigation module collects vehicle speed, acceleration and attitude information and is used for positioning the vehicle by using an inertial positioning method.

In the step (2), the wireless sensor network node module and each wireless sensor network anchor node in the roadway perform soft time synchronization by using a multi-hop RBS time synchronization protocol; preprocessing point cloud data of a multi-line laser radar sensing module, smoothing the acquired point cloud by utilizing bilateral filtering, downsampling the point cloud by utilizing a Voxelgrid filter, and removing outliers by utilizing a stateticalOutlier-Removal filter; the data of the explosion-proof infrared camera module is preprocessed by adopting nonlinear morphological filtering and histogram equalization operation to inhibit noise, enhance edges and improve gray level; preprocessing the data of the explosion-proof infrared night vision device module, improving the resolution of a temperature image by adopting an inter-frame registration non-uniform correction method, and enhancing the image by adopting an unsharp mask method; preprocessing data of a millimeter wave radar sensing module, collecting detection information of distance in a wide view angle, and removing an empty signal, a useless signal and a static obstacle signal; preprocessing data of a two-dimensional laser radar sensing module, and eliminating outliers by using random sample consensus (RANSAC); preprocessing data of the flame-proof type TOF camera sensing module, and removing wrong registration point pairs and dividing point sets by using a sampling consistency algorithm; preprocessing data of the vehicle-mounted sonar perception module is to remove useless noise signals in a data sequence; the preprocessing of the data of the speed measurement module is to averagely inhibit the fluctuation of the rotating speed for a plurality of times on the collected rotating speed information. And all the sensing modules adopt software to trigger synchronization to realize time synchronization.

Under the condition that the functions of the information preprocessing and time synchronization method of each sensing module are not changed, the method is not limited to the method.

In the step (3), a wireless positioning method consisting of a wireless sensor network node module and a wireless sensor network anchor node in a roadway, a three-dimensional laser SLAM method adopted by a multi-line laser radar sensing module, a binocular camera SLAM method adopted by an explosion-proof type infrared camera module, a 2D SLAM method adopted by a two-dimensional laser radar sensing module, a depth camera SLAM method adopted by an explosion-proof type TOF camera sensing module, a 2D SLAM method adopted by a vehicle-mounted sonar sensing module, a track reckoning and positioning method which is carried out by combining a speed measurement module and a kinematic model, a track reckoning and positioning method adopted by an inertial navigation module, and a final vehicle positioning result are obtained by combining an underground geographic information system for comprehensive positioning;

the sensing of the surrounding environment of the vehicle is realized and a surrounding environment model is established by a point cloud clustering segmentation algorithm adopted by a multi-line laser radar sensing module, an image segmentation and moving target extraction method adopted by an explosion-proof type infrared camera module, a method for judging the position information of underground pedestrians by an explosion-proof infrared night vision device module according to temperature information, a dynamic obstacle information method adopted by a millimeter wave radar sensing module and a surrounding obstacle distance information method adopted by a vehicle-mounted sonar sensing module.

The method for positioning and sensing the environment can be determined after comprehensive evaluation according to the actual environment condition, the positioning and sensing effects of the sensors and the algorithm, the algorithm instantaneity and other performances, and different sensor combination types can be used in different environments to obtain the optimal use effect.

In the step (4), the vehicle positioning information and the surrounding environment model are transmitted to a dispatching system server 27 of a coal mine dispatching room by using a wireless sensor network and confirmed by using a downhole monitoring camera 33; the optimal scheduling strategy is that when no obstacle or turnout exists in a roadway, a scheduling system server plans out a reasonable shortest path based on a GIS map, the shortest path is transmitted to a vehicle through a wireless sensor network, and the vehicle autonomously performs local path planning and motion control according to a globally planned path; when vehicles are about to meet or meet pedestrians, scheduling planning is comprehensively carried out according to the priority of the vehicles, the position information of the underground pedestrians and the distance between the vehicles in the roadway and the nearest meeting avoidance space 28, the vehicles with high priority pass through first, the vehicles with low priority enter the avoidance space 28 to carry out avoidance action, the vehicles are decelerated or stopped when the distance between the vehicles and the underground pedestrians is smaller than a threshold value, and the vehicles continue to normally run after passing through. In the priority determination method, the people mover has a higher priority and the people mover has a lower priority.

The trackless rubber-tyred vehicle is provided with a vehicle self-checking system, when the vehicle self-checking system detects that the vehicle has a fault, the vehicle is controlled to run to a nearest meeting vehicle avoiding space or directly stops at the right side, the position information, the fault type and the alarm information of the fault vehicle are sent back to a dispatching system server by using a wireless sensor network, a monitoring personnel in a dispatching room immediately sends a maintenance personnel to a working site of the fault vehicle for maintenance, and simultaneously, the global planning path of other vehicles passing through or influenced by the working site of the fault vehicle is newly established, so that the overall working efficiency of underground auxiliary transportation is ensured.

In the step (5), the planning control module comprehensively utilizes the surrounding environment model, the positioning information of the vehicle in the roadway, the current speed, the acceleration information, the total weight of the vehicle, the ground type information and the vehicle priority and global path planning information sent by the scheduling system server to plan the local real-time motion of the vehicle and send the planning result to the bottom controller;

in the step (6), the bottom controller utilizes a vehicle kinematics model to calculate a real-time motion planning result to obtain a wheel rotating speed instruction, and utilizes a vehicle control bus to send a control signal to a linear control accelerator, a brake and a steering controller to control each diesel engine or motor so as to realize vehicle speed control; sending control signals of a front lamp, a tail lamp, a loudspeaker and a wiper by using a control bus according to the currently planned vehicle behavior; and the bottom controller simultaneously receives the highest priority intervention control information sent by the dispatching system server and controls the vehicle to suddenly stop in an emergency.

The embodiments are only for illustrating the technical idea of the present invention, and the technical idea of the present invention is not limited thereto, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the scope of the present invention.

Claims (9)

1. The utility model provides a trackless rubber-tyred car intelligence vehicle-mounted system which characterized in that: set up the flame proof switch board on the trackless rubber-tyred car, this flame proof switch board includes 3 cavitys: the main cavity body, the power supply cavity and the wiring cavity; the main cavity is internally provided with a power supply management module, a current sensor, a relay module, a power supply conversion module, an intrinsic safety power supply module, an information exchange module, an isolation module, an inertial navigation module, a data acquisition and preprocessing module, a positioning and environment modeling module and a planning control module; a power supply module is arranged in the power supply cavity; an intrinsic safety sensing module, an explosion-proof type sensing module and a bottom layer controller are arranged outside the explosion-proof control cabinet; the intrinsic safety perception module comprises a wireless sensor network node module, a multi-line laser radar perception module, a two-dimensional laser radar perception module, a millimeter wave radar perception module, a vehicle-mounted sonar perception module and a speed measurement module; the explosion-proof sensing module comprises an explosion-proof infrared camera module, an explosion-proof infrared night vision device module and an explosion-proof TOF camera sensing module; the power supply management module collects temperature and voltage signals of the power supply module to judge the working state of the power supply, the current sensor collects current of each branch and feeds the current back to the power supply management module, the power supply management module controls the relay module according to the information of the power supply and the current of the branch, and the relay module comprises a plurality of relay modules which respectively control the on-off of each non-safety circuit and each intrinsic safety circuit; the non-safety circuit converts the output of the power supply module into different voltages through the power supply conversion module, and supplies power to the information exchange module, the inertial navigation module, the data acquisition and preprocessing module, the positioning and environment modeling module, the planning control module and the explosion-proof sensing module outside the explosion-proof control cabinet inside the explosion-proof control cabinet respectively; the intrinsically safe circuit converts the output of the power module into different intrinsically safe voltages through the intrinsically safe power module, and supplies power to the isolation module inside the explosion-proof control cabinet and the intrinsically safe sensing module outside the explosion-proof control cabinet respectively; the wiring cavity is internally provided with a wiring terminal, the connection between an internal circuit and an external circuit of the explosion-proof control cabinet is realized through the wiring terminal, the intrinsic safety sensing module is connected with the input end of the isolation module through the wiring terminal, the output end of the isolation module is connected with the input end of the information exchange module, the explosion-proof type sensing module is connected with the input end of the information exchange module through the wiring terminal, and the output end of the information exchange module is sequentially connected with the data acquisition and preprocessing module, the positioning and environment modeling module and the planning control module; the multi-line laser radar sensing module collects environmental point cloud data, and utilizes the point cloud data to carry out environmental modeling, positioning and moving target detection and segmentation; the explosion-proof infrared camera module automatically switches working states according to illuminance in the environment, acquires a color image in a high-illuminance environment and an infrared auxiliary gray image in a low-illuminance environment, and is used for visual modeling and positioning and target detection and identification; the two-dimensional laser radar sensing module collects barrier information of a plane where the two-dimensional laser radar sensing module is located and is used for environment modeling and positioning.

2. The intelligent vehicle-mounted system of the trackless rubber-tyred vehicle as claimed in claim 1, wherein: the multi-line laser radar sensing module is arranged on the upper part of the trolley body of the trackless rubber-tyred vehicle; the two-dimensional laser radar sensing module and the millimeter wave radar sensing module are arranged below the front part of the trolley body of the trackless rubber-tyred vehicle; the vehicle-mounted sonar perception modules are mounted on the side and the rear of the vehicle body; the explosion-proof type infrared camera module, the explosion-proof type infrared night vision device module and the wireless sensor network node module are arranged above the vehicle body; the speed measuring module is arranged at the four wheels; the flame-proof type TOF camera sensing modules are arranged on two sides of the rear of the vehicle; trackless rubber-tyred vehicles take the form of, but not limited to, underground personnel carriers and equipment scrapers; the trackless rubber-tyred car is in a completely autonomous driving mode without a steering wheel or in a mode that the steering wheel is kept to be manually connected.

3. The trackless rubber-tyred vehicle operation control method based on a downhole vehicle dispatching system, the trackless rubber-tyred vehicle is provided with the intelligent vehicle-mounted system according to claim 1, the downhole vehicle dispatching system comprises wireless sensor network anchor nodes arranged at different positions on two sides of a coal mine tunnel, positioning devices carried by persons going down a mine, downhole monitoring cameras arranged at different positions of the coal mine tunnel and a dispatching system server arranged in a coal mine dispatching room, and the absolute positions of the wireless sensor network anchor nodes are known; during the running process of the trackless rubber-tyred vehicle, a wireless sensor network node module detects the signal intensity sent by a wireless sensor network anchor node in a roadway, automatic networking communication is carried out, and vehicle positioning is carried out based on a wireless sensor network, the wireless sensor network anchor node transmits uploading information and vehicle positioning information of an intelligent vehicle-mounted system of the trackless rubber-tyred vehicle to a dispatching system server through a wired network, a positioning device carried by a pedestrian underground transmits the current position information of the pedestrian to the dispatching system server through the wireless sensor network, an underground monitoring camera monitors the position information of the underground vehicle and the pedestrian and transmits the monitoring information to the dispatching system server through the wired network, the dispatching system server comprehensively processes the uploading information, the positioning information of the vehicle, the position information of the pedestrian and the monitoring information of the underground monitoring camera of the trackless rubber-tyred vehicle intelligent vehicle-mounted system, obtaining a scheduling planning scheme of the underground vehicle, and controlling the operation of each trackless rubber-tyred vehicle;

the method is characterized by comprising the following steps:

(1) the explosion-proof sensing modules and the intrinsic safety sensing modules on the intelligent vehicle-mounted system of the trackless rubber-tyred vehicle respectively acquire respective information and transmit the information to the information exchange module in the explosion-proof control cabinet;

(2) the data acquisition and preprocessing module receives various sensor data from the information exchange module and performs time synchronization and preprocessing on the various data;

(3) the positioning and environment modeling module is used for positioning and sensing the vehicle and the environment by utilizing the preprocessed sensor data and an underground geographic information system, and establishing a vehicle surrounding environment model;

the method comprises the steps that a wireless positioning method consisting of a wireless sensor network node module and a wireless sensor network anchor node in a roadway, a three-dimensional laser SLAM method adopted by a multi-line laser radar sensing module, a binocular camera SLAM method adopted by an explosion-proof infrared camera module, a 2D SLAM method adopted by a two-dimensional laser radar sensing module, a depth camera SLAM method of an explosion-proof TOF camera sensing module, a 2D SLAM method adopted by a vehicle-mounted sonar sensing module, a track dead reckoning positioning method of a speed measurement module in combination with a kinematic model, a track dead reckoning positioning method adopted by an inertial navigation module and comprehensive positioning in combination with an underground geographic information system are used for obtaining a final vehicle positioning result;

(4) the method comprises the steps that vehicle positioning information and a surrounding environment model are transmitted to a dispatching system server of a coal mine dispatching room through a wireless sensor network, a positioning device carried by an underground pedestrian transmits the current position information of the pedestrian to the dispatching system server through the wireless sensor network, and the position information of the vehicle and the pedestrian is further confirmed through an underground monitoring camera; the scheduling system server performs overall scheduling planning by using the optimal scheduling strategy, outputs global path planning information, vehicle priority and highest priority intervention control information of each vehicle, and sends the global path planning information, the vehicle priority and the highest priority intervention control information to each vehicle through a wireless sensor network;

(5) the planning control module comprehensively utilizes the environment perception information, the vehicle performance information, the global path planning information and the vehicle priority information sent by the scheduling system server to plan the local real-time motion of the vehicle and send a planning result to the bottom controller;

(6) the bottom layer controller resolves a real-time motion planning result, and sends control signals to a wire control accelerator, a brake and a steering controller of the vehicle to realize vehicle speed control; and directly receiving the highest priority intervention control information sent by the scheduling system server.

4. The operation control method of the trackless rubber-tyred vehicle according to claim 3, wherein: in the step (1), the wireless sensor network node module communicates with a wireless sensor network anchor node in a roadway, and various information is transmitted and wireless positioning is carried out by utilizing a wireless sensor network; the multi-line laser radar sensing module collects environmental point cloud data, and the point cloud data is utilized to carry out environmental modeling, positioning and moving target detection and segmentation; the explosion-proof infrared camera module automatically switches working states according to illuminance in the environment, acquires a color image in a high-illuminance environment and an infrared auxiliary gray image in a low-illuminance environment, and is used for visual modeling and positioning and target detection and identification; the explosion-proof infrared night vision device module is used for acquiring temperature information of objects in a roadway and assisting in detecting the accurate position of an underground pedestrian; the millimeter wave radar sensing module collects dynamic and static obstacle information in the environment and is used for detecting a moving target; the two-dimensional laser radar sensing module collects barrier information of a plane where the two-dimensional laser radar sensing module is located and is used for environment modeling and positioning; the method comprises the following steps that a flame-proof type TOF camera sensing module collects depth and color image information of an environmental barrier and is used for identifying a rear target of a vehicle and positioning the vehicle; the vehicle-mounted sonar perception module is used for collecting the sent ultrasonic signals and measuring the distance from the vehicle to surrounding objects and positioning the vehicle; the speed measurement module collects pulse signals, is used for detecting and feeding back the rotating speed of the wheel, and is used for positioning by using dead reckoning and providing speed feedback for local planning; the inertial navigation module collects vehicle speed, acceleration and attitude information and is used for positioning the vehicle by using an inertial positioning method.

5. The operation control method of the trackless rubber-tyred vehicle according to claim 4, wherein: in the step (2), the wireless sensor network node module and each wireless sensor network anchor node in the roadway perform soft time synchronization by using a multi-hop RBS time synchronization protocol; preprocessing point cloud data of a multi-line laser radar sensing module, smoothing the acquired point cloud by utilizing bilateral filtering, downsampling the point cloud by utilizing a Voxelgrid filter, and removing outliers by utilizing a stateticalOutlier-Removal filter; the data of the explosion-proof infrared camera module is preprocessed by adopting nonlinear morphological filtering and histogram equalization operation to inhibit noise, enhance edges and improve gray level; preprocessing the data of the explosion-proof infrared night vision device module, improving the resolution of a temperature image by adopting an inter-frame registration non-uniform correction method, and enhancing the image by adopting an unsharp mask method; preprocessing data of a millimeter wave radar sensing module, collecting detection information of distance in a wide view angle, and removing an empty signal, a useless signal and a static obstacle signal; preprocessing the data of the two-dimensional laser radar sensing module, and removing outliers by using random sampling consistency; the data preprocessing of the flame-proof type TOF camera sensing module comprises the following steps: firstly, removing wrong registration point pairs by using a sampling consistency algorithm, and then segmenting a point set; preprocessing data of the vehicle-mounted sonar perception module is to remove useless noise signals in a data sequence; the preprocessing of the data of the speed measurement module is to averagely inhibit the fluctuation of the rotating speed for a plurality of times on the collected rotating speed information.

6. The running control method of the trackless rubber-tyred vehicle according to claim 4 or 5, characterized in that: in the step (3), the sensing of the surrounding environment of the vehicle is realized and a surrounding environment model is established through a point cloud clustering segmentation algorithm adopted by a multi-line laser radar sensing module, an image segmentation and moving target extraction method adopted by an explosion-proof type infrared camera module, a method for judging the position information of the underground pedestrian by an explosion-proof infrared night vision device module according to temperature information, a dynamic obstacle information method adopted by a millimeter wave radar sensing module and a surrounding obstacle distance information method adopted by a vehicle-mounted sonar sensing module.

7. The operation control method of the trackless rubber-tyred vehicle according to any one of claims 3 to 5, characterized in that: in the step (4), the vehicle positioning information and the surrounding environment model are transmitted to a dispatching system server of a coal mine dispatching room by using a wireless sensor network, and are confirmed by using an underground monitoring camera; the optimal scheduling strategy is that when no obstacle or turnout exists in a roadway, a scheduling system server plans out a reasonable shortest path based on a GIS map, the shortest path is transmitted to a vehicle through a wireless sensor network, and the vehicle autonomously performs local path planning and motion control according to a globally planned path; when vehicles are about to meet or meet pedestrians, scheduling planning is comprehensively carried out according to the priority of the vehicles, the position information of the underground pedestrians and the distance between the vehicles in the roadway and the current nearest meeting avoidance space, the vehicles with high priority pass through first, the vehicles with low priority enter the avoidance space to carry out avoidance action, the vehicles are decelerated or stopped when the distance between the vehicles and the underground pedestrians is smaller than a threshold value, and the vehicles continue to normally run after passing through.

8. The operation control method of the trackless rubber-tyred vehicle according to claim 7, wherein: the trackless rubber-tyred vehicle is provided with a vehicle self-checking system, when the vehicle self-checking system detects that the vehicle has a fault, the vehicle is controlled to run to a nearest meeting vehicle avoiding space or directly stops at the right side, the position information, the fault type and the alarm information of the fault vehicle are sent back to a dispatching system server by using a wireless sensor network, a monitoring personnel in a dispatching room immediately sends a maintenance personnel to a working site of the fault vehicle for maintenance, and simultaneously, the global planning path of other vehicles passing through or influenced by the working site of the fault vehicle is newly established, so that the overall working efficiency of underground auxiliary transportation is ensured.

9. The operation control method of the trackless rubber-tyred vehicle according to any one of claims 3 to 5, characterized in that: in the step (5), the planning control module comprehensively utilizes the surrounding environment model, the positioning information of the vehicle in the roadway, the current speed, the acceleration information, the total weight of the vehicle, the ground type information and the vehicle priority and global path planning information sent by the scheduling system server to plan the local real-time motion of the vehicle and send the planning result to the bottom controller;

in the step (6), the bottom controller utilizes a vehicle kinematics model to calculate a real-time motion planning result to obtain a wheel rotating speed instruction, and utilizes a vehicle control bus to send a control signal to a linear control accelerator, a brake and a steering controller to control each diesel engine or motor so as to realize vehicle speed control; sending control signals of a front lamp, a tail lamp, a loudspeaker and a wiper by using a control bus according to the currently planned vehicle behavior; and the bottom controller simultaneously receives the highest priority intervention control information sent by the dispatching system server and controls the vehicle to suddenly stop in an emergency.

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