CN114721376A - Road condition identification method, device, equipment and medium for unmanned mine car - Google Patents
Road condition identification method, device, equipment and medium for unmanned mine car Download PDFInfo
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Abstract
The application relates to the field of unmanned driving, in particular to a road condition identification method, a road condition identification device, road condition identification equipment and road condition identification media for an unmanned mine car. The method comprises the following steps: acquiring pavement image information, performing image analysis on the pavement image information, determining whether a pavement pit structure exists in the pavement image information, if so, performing depth analysis on the pavement pit structure to generate pavement pit information, then analyzing the pavement pit information, determining whether the pavement pit information meets preset pit range information, if not, generating an avoidance instruction, and controlling a mine car to avoid the pavement pit information according to the avoidance instruction; if the speed regulation instruction is met, the speed regulation instruction is generated, the real-time speed of the mine car is regulated according to the speed regulation instruction, and the information that the mine car safely passes through the pit holes in the road surface is determined.
Description
Technical Field
The application relates to the field of unmanned driving, in particular to a road condition identification method, a road condition identification device, road condition identification equipment and road condition identification media for an unmanned mine car.
Background
Along with the development of computer control technology, unmanned driving is a trend nowadays, more and more unmanned technology is applied to automobiles, and a mine car is taken as one of the automobiles, and the unmanned mine car also becomes an important development direction of the mine car industry.
The existing unmanned mine car realizes the intelligent management of the travel through an intelligent traffic information platform, so that the mine car can be transported more safely. The unmanned mine car acquires road condition information in real time while driving, judges and processes according to the road condition information, determines whether a pot hole exists in the current road condition, and changes the driving route of the mine car when the pot hole exists, so that the mine car bypasses the pot hole, and the safety of the mine car is improved.
In view of the above-mentioned related art, the inventor thinks that when the road conditions have the pot hole and the size of pot hole is not enough to influence the mine car and normally travel, still change the route of going of mine car for the mine car bypasses the pot hole, and it is long when increasing the transportation of mine car, has reduced the transportation efficiency of unmanned mine car.
Disclosure of Invention
In order to improve the transportation efficiency of the unmanned mine car, the application provides a road condition identification method, a road condition identification device, road condition identification equipment and a road condition identification medium of the unmanned mine car.
In a first aspect, the application provides a road condition identification method for an unmanned mine car, which adopts the following technical scheme:
a road condition identification method of an unmanned mine car comprises the following steps:
acquiring pavement image information, wherein the pavement image information is pavement image information of a running route of a mine car;
carrying out image analysis on the road surface image information to determine whether a road surface pit structure exists in the road surface image information;
if the information exists, performing depth analysis on the pavement pit structure to generate pavement pit information, wherein the pavement pit information comprises pavement pit opening information, pit depth information and pavement pit position information;
analyzing the road surface pit information to determine whether the road surface pit information meets preset pit range information, wherein the preset pit range information is used for representing pit information that the mine car can normally pass through;
if the road surface pit information does not meet the preset road surface pit information, generating an avoiding instruction, and controlling the mine car to avoid the road surface pit information according to the avoiding instruction;
and if so, generating a speed regulation instruction, regulating the real-time speed of the mine car according to the speed regulation instruction, and determining the information that the mine car safely passes through the pit hole on the road surface.
By adopting the technical scheme, when the road condition of the unmanned mine car is identified, firstly, the road surface image information is obtained, then the image processing and analyzing technology is used for carrying out image analysis on the road surface image information to determine whether a road surface pit structure exists in the road surface image information, when the road surface pit structure exists in the road surface image information, the road surface pit information is generated through the pit structure, then the road surface pit information is analyzed to determine whether the road surface pit information meets the preset pit range information, wherein the preset pit range information represents pit information which cannot meet the normal running of the mine car, when the road surface pit information meets the preset pit range information, an avoiding instruction is generated to control the mine car to avoid the road surface pit information, when the road surface pit information does not meet the preset pit range information, a speed regulating instruction is generated to regulate the real-time speed of the mine car, the running route of the mine car is not changed at will when the safety of the mine car passing through the road surface pot hole information is ensured, the time consumption of the mine car in the transportation process is reduced, and therefore the transportation efficiency of the unmanned mine car is improved.
In another possible implementation manner, the generating an avoidance instruction, and controlling a mine car to avoid the pit information according to the avoidance instruction further includes:
acquiring road image information, wherein the road image information is road image information on two sides of the road surface image information;
carrying out image analysis on the road image information to determine whether a road pit structure exists in the road image information;
if the information exists, carrying out depth analysis on the road pit structure to generate road pit information, wherein the road pit information comprises road pit depth information and road pit position information;
analyzing the road pit information to determine whether the road pit information meets the preset pit range information;
and if the position information does not meet the preset information, analyzing the road surface pit position information and the road pit position information to generate a position adjusting instruction, wherein the position adjusting instruction is used for adjusting the position of the wheels of the mine car on the road surface and/or the road.
According to the technical scheme, when the road pit information meets the preset pit range information, whether a road pit structure exists in the road image information is determined by obtaining the road image information, and when the road pit structure exists in the road pit, the road pit information is generated, wherein the road pit information comprises road pit depth information and road pit position information, the road pit information is analyzed to determine whether the road pit information meets the preset pit range information, and when the road pit information meets the preset pit range information, a position adjusting instruction is generated according to the road pit position information and the road pit position information to adjust the vehicle position of the mine car, so that the mine car avoids the pit structure, and the running safety index of the mine car is improved.
In another possible implementation manner, the acquiring road surface image information further includes:
denoising the road image information and the road surface image information, and performing image enhancement processing on the denoised road image information and the road surface image information.
According to the technical scheme, because the road image information and the road surface image information in reality are often influenced by the imaging equipment, external environment noise and the like in the digitalization and transmission processes, the denoising technology is needed to denoise the road image information and the road surface image information so as to reduce the noise in the digital image, the road image information and the road surface image information are more accurate, then the denoised road image information and the road surface image information are subjected to image enhancement processing, the visual effect of the road image information and the road surface image information is improved, the image is clearer, and the effect of improving the identification degree of the road image information and the road surface image information is achieved.
In another possible implementation manner, analyzing the road surface pothole position information and the road pothole position information to generate a position adjustment instruction includes:
determining pit distance information between the road surface pit structure and the road pit structure based on the road surface pit position information and the road pit position information;
judging whether the pit distance information meets preset distance information or not;
and if so, acquiring wheel position information, and generating a position adjusting instruction based on the wheel position information and the pit distance information, wherein the wheel position information is the real-time position of the mine car wheel.
Through the technical scheme, when the position of the mine car is adjusted based on the position adjusting instruction, according to the road surface pit position information and the road pit position information, pit distance information between the road surface pit structure and the road pit structure is determined, whether the pit distance information meets the preset distance information is judged, when the pit distance information meets the preset distance information, wheel position information of the mine car is obtained, and the position adjusting instruction is generated by combining the wheel position information and the pit distance information, so that wheels of the mine car are helped to avoid the road pit structure and the road surface pit structure.
In another possible implementation manner, the generating a speed regulation instruction, and adjusting the real-time speed of the mine car according to the speed regulation instruction to determine the information that the mine car safely passes through the tunnel includes:
determining preset weight ratio information which safely passes through the pit structure based on the pavement pit opening information and the pavement pit depth information;
acquiring gravity information and speed information of the mine car, and determining the gravity ratio information of the mine car based on the gravity information and the speed information;
and performing data analysis on the weight ratio information and the preset weight ratio information, determining weight ratio difference value information, and generating a speed regulation instruction according to the weight ratio difference value.
According to the technical scheme, when the speed regulation instruction is generated, the preset weight-speed ratio information of the pit structure is determined according to the opening information of the road pit and the depth information of the road pit, namely the gravity and the speed of the mine car with the current pit structure are proportional, then the gravity information and the speed information of the current mine car are obtained, the weight-speed ratio information of the current mine car is calculated according to the gravity information and the speed information, then the weight-speed ratio information and the preset weight-speed ratio information are subjected to data analysis, the weight-speed ratio difference information is determined, the speed regulation instruction is generated based on the weight-speed ratio difference information, and therefore the safe speed of the mine car passing through the road pit structure is adjusted.
In another possible implementation manner, the obtaining wheel position information, and generating a position adjustment instruction based on the wheel position information and the pothole distance information, where the wheel position information is a real-time position of a wheel of the mine car, and then the method further includes:
and marking the road pit position information and the road pit position information, and controlling and displaying the marked road pit position information and the marked road pit position information.
Through above-mentioned technical scheme, mark road pothole positional information and road pothole positional information, help the staff to overhaul the trouble highway section to reduce the emergence of future accident.
In another possible implementation manner, the method further includes:
detecting the real-time state information of the mine car, analyzing the real-time state information, and acquiring the real-time state data of the mine car;
wherein the real-time status data comprises at least one of:
running temperature data and real-time oil mass data of the mine car;
determining whether the real-time status data exceeds a status threshold for the mine car;
and if the current state of the battery exceeds the preset threshold value, generating state warning information and controlling to display the state warning information.
According to the technical scheme, when the state of the mine car is detected, the real-time state information of the mine car during current operation is determined, then the real-time state information is analyzed, the real-time state data of the mine car is obtained, whether the real-time state data exceeds the state threshold value of the mine car or not is judged, and when the real-time state data exceeds the state threshold value, the state warning information is generated and is controlled and displayed, so that warning workers can conveniently overhaul the mine car.
In a second aspect, the application provides a road condition recognition device for an unmanned mine car, which adopts the following technical scheme:
a road condition recognition device for an unmanned mine car, comprising:
the image acquisition module is used for acquiring road surface image information, and the road surface image information is road surface image information of a running route of the mine car;
the image analysis module is used for carrying out image analysis on the road surface image information and determining whether a road surface pit structure exists in the road surface image information;
the depth analysis module is used for carrying out depth analysis on the pavement pit structure if the pavement pit structure exists, and generating pavement pit information, wherein the pavement pit information comprises pavement pit opening information, pit depth information and pavement pit position information;
the information analysis module is used for analyzing the road surface pit information and determining whether the road surface pit information meets preset pit range information or not, wherein the preset pit range information is used for representing pits in which the mine car can normally pass;
the avoidance module is used for generating an avoidance instruction if the information of the mine car is not met, and controlling the mine car to avoid the information of the pavement pot holes according to the avoidance instruction;
and the speed regulating module is used for generating a speed regulating instruction if the road surface pit information is met, regulating the real-time speed of the mine car according to the speed regulating instruction and determining the information that the mine car safely passes through the road surface pit.
By adopting the technical scheme, when the road condition of the unmanned mine car is identified, the image acquisition module acquires road surface image information, then the image analysis module performs image analysis on the road surface image information by using an image processing and analyzing technology to determine whether a road surface pit structure exists in the road surface image information, when the road surface pit structure exists in the road surface image information, the depth analysis module generates road surface pit information through the pit structure, then the information analysis module analyzes the road surface pit information to determine whether the road surface pit information meets the preset pit range information, wherein the preset pit range information indicates pit information which cannot meet the normal running of the mine car, when the road surface pit information meets the preset pit range information, the mine car evading module generates an evading instruction to control to evade the road surface pit information, and when the road surface pit information does not meet the preset pit range information, the speed regulating module generates a speed regulating instruction, regulates the real-time speed of the mine car, ensures that the mine car can safely pass through the information of the pit holes on the road surface, and randomly changes the running route of the mine car, thereby reducing the time consumption of the mine car in the transportation process and improving the transportation efficiency of the unmanned mine car.
In one possible implementation, the apparatus further includes: an acquisition module, an analysis module, a generation module, a determination module and an instruction generation module, wherein,
the acquisition module is used for acquiring road image information, wherein the road image information is road image information on two sides of the road surface image information;
the analysis module is used for carrying out image analysis on the road image information and determining whether a road pit structure exists in the road image information;
the generating module is used for carrying out depth analysis on the road pit structure to generate road pit information when the road image information has the road pit structure, wherein the road pit information comprises road pit depth information and road pit position information;
the determining module is used for analyzing the road pit information and determining whether the road pit information meets the preset pit range information;
the instruction generation module is used for analyzing the road pit position information and the road pit position information when the road pit information meets the preset pit range information, and generating a position adjustment instruction, wherein the position adjustment instruction is used for adjusting the position of wheels of the mine car on the road surface and/or the road.
In another possible implementation manner, the apparatus further includes: an image processing module, wherein,
the image processing module is used for denoising the road image information and the road surface image information and performing image enhancement processing on the denoised road image information and the road surface image information.
In another possible implementation manner, the step of analyzing the road surface pothole position information and the road pothole position information by the instruction generation module to generate the position adjustment instruction specifically includes:
determining pit distance information between the road surface pit structure and the road pit structure based on the road surface pit position information and the road pit position information;
judging whether the pit distance information meets preset distance information or not;
and if so, acquiring wheel position information, and generating a position adjusting instruction based on the wheel position information and the pit distance information, wherein the wheel position information is the real-time position of the mine car wheel.
In another possible implementation manner, the speed regulation module is specifically configured to, when generating a speed regulation instruction, regulating the real-time speed of the mine car according to the speed regulation instruction, and determining that the mine car safely passes through the information of the pavement pot hole:
determining preset weight ratio information which safely passes through the pit structure based on the pavement pit opening information and the pavement pit depth information;
acquiring gravity information and speed information of the mine car, and determining the gravity ratio information of the mine car based on the gravity information and the speed information;
and performing data analysis on the weight ratio information and the preset weight ratio information, determining weight ratio difference value information, and generating a speed regulation instruction according to the weight ratio difference value.
In another possible implementation manner, the apparatus further includes: a location labeling module, wherein,
and the position marking module is used for marking the road pit position information and controlling and displaying the marked road pit position information and the marked road pit position information.
In another possible implementation manner, the method further includes: a state analysis module, a state determination module and a control display module, wherein,
the state analysis module is used for detecting the real-time state information of the mine car, analyzing the real-time state information and acquiring the real-time state data of the mine car;
wherein the real-time status data comprises at least one of:
running temperature data and real-time oil mass data of the mine car;
the state determination module is used for determining whether the real-time state data exceeds a state threshold of the mine car;
and the control display module is used for generating state warning information when the real-time state data exceeds a state threshold value and controlling and displaying the state warning information.
In a third aspect, the present application provides an electronic device, which adopts the following technical solutions:
an electronic device, comprising:
at least one processor;
a memory;
at least one application, wherein the at least one application is stored in the memory and configured to be executed by the at least one processor, the at least one application configured to: and executing the road condition identification method of the unmanned mine car.
In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions:
a computer-readable storage medium, comprising: the road condition identification method of the unmanned mine car is characterized in that a computer program capable of being loaded by a processor and executing the road condition identification method of the unmanned mine car is stored.
To sum up, the application comprises the following beneficial technical effects:
1. when the road condition of the unmanned mine car is identified, firstly acquiring road surface image information, then carrying out image analysis on the road surface image information by using an image processing and analyzing technology to determine whether a road surface pit structure exists in the road surface image information, generating road surface pit information by using the pit structure when the road surface pit structure exists in the road surface image information, then analyzing the road surface pit information to determine whether the road surface pit information meets preset pit range information or not, wherein the preset pit range information represents pit information which cannot meet the normal running of the mine car, generating an avoidance instruction when the road surface pit information meets the preset pit range information, controlling the mine car to avoid the road surface pit information, generating a speed regulation instruction when the road surface pit information does not meet the preset pit range information, regulating the real-time speed of the mine car, and guaranteeing the safety of passing through the road surface pit information, the running route of the mine car is not changed at will, so that the time consumption of the mine car in the transportation process is reduced, and the transportation efficiency of the unmanned mine car is improved;
2. when a speed regulation instruction is generated, according to the information of the opening of the road surface pot hole and the information of the depth of the road surface pot hole, the preset weight-to-speed ratio information of the pot hole structure is determined, namely, the ratio of the gravity and the speed of the current mine car of the pot hole structure is obtained, then the gravity information and the speed information of the current mine car are obtained, the weight-to-speed ratio information of the current mine car is calculated according to the gravity information and the speed information, then the weight-to-speed ratio information and the preset weight-to-speed ratio information are subjected to data analysis, the weight-to-speed ratio difference information is determined, and the speed regulation instruction is generated based on the weight-to-speed ratio difference information, so that the safe speed of the mine car passing through the road surface pot hole structure is adjusted.
Drawings
FIG. 1 is a schematic flow chart illustrating a road condition recognition method for an unmanned mining vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic block diagram of a road condition recognition device for an unmanned mining vehicle according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to figures 1-3.
A person skilled in the art, after reading the present description, may make modifications to the embodiments as required, without any inventive contribution thereto, but shall be protected by the patent laws within the scope of the claims of the present application.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship, unless otherwise specified.
The embodiments of the present application will be described in further detail with reference to the drawings attached hereto.
The embodiment of the application provides a road condition identification method for an unmanned mine car, which is executed by electronic equipment, wherein the electronic equipment can be a server or terminal equipment, the server can be an independent physical server, a server cluster or distributed system formed by a plurality of physical servers, and a cloud server for providing cloud computing service. The terminal device may be a smart phone, a tablet computer, a notebook computer, a desktop computer, and the like, but is not limited thereto, the terminal device and the server may be directly or indirectly connected through a wired or wireless communication manner, and an embodiment of the present application is not limited thereto, as shown in fig. 1, the method includes:
in step S10, road surface image information is acquired.
The road surface image information is the road surface image information of the running route of the mine car.
In this embodiment of the present application, road surface image information is obtained through a monitoring device for example, where the monitoring device includes: 360 surveillance cameras, panoramic cameras, and the like.
Specifically, the staff installs a plurality of monitoring devices in the both sides of the route of traveling of unmanned mine car, realizes carrying out comprehensive visual field control to the road surface.
And step S11, carrying out image analysis on the road surface image information, and determining whether the road surface pothole structure exists in the road surface image information.
The embodiment of the application lists a practicable image analysis technical means, and the image analysis is carried out on road image information: and carrying out pit detection on the road surface image information by using an Opencv technology, and determining whether a road surface pit structure exists in the road surface image information by detecting an inner core, a threshold value and an edge of the road surface image information.
And step S12, if the information exists, performing depth analysis on the road surface pothole structure to generate the road surface pothole information.
Specifically, according to the size ratio of the pavement pit and the pavement shot by the monitoring equipment, pit opening information of the pit is determined, according to the visibility of the bottom of the pavement pit, pit depth information is determined, according to the position information of the monitoring equipment for shooting pavement image information, pavement pit position information is determined, and the pavement pit information is generated by combining the pit opening information, the pit depth information and the pavement pit position information.
And step S13, analyzing the road pothole information, and determining whether the road pothole information meets the preset pothole range information.
The preset pit range information is used for representing the pits in which the mine car can normally pass.
Specifically, specific parameters of the pit opening information, the pit depth information and the road pit position information are determined through the road pit information, such as: the pit opening information is a pit with the length of 3 meters and the width of 2 meters, the pit depth information is a pit with the depth of 2 meters, the pit opening range of the preset pit range information is a pit with the length of 1 meter to 2 meters and the width of 1 meter to 1.5 meters, and the pit depth range is a pit with the depth of 0.2 meter to 0.4 meter, namely, when the pit opening range exceeds 2 meters and 1.5 meters, and the pit depth exceeds 0.4 meter, the mine car cannot normally pass.
And step S14, if the road surface pit information does not meet the preset conditions, generating an avoiding instruction, and controlling the tramcar to avoid the road surface pit information according to the avoiding instruction.
Specifically, when the information of the road surface pot holes does not meet the preset pot hole range information, the fact that the mine car cannot pass through the road surface pot hole structure is indicated, an avoidance instruction is generated by combining the current road surface image information, the mine car is controlled to move on the current road surface, and the current road surface pot hole structure is avoided.
And step S15, if yes, generating a speed regulating instruction, regulating the real-time speed of the mine car according to the speed regulating instruction, and determining the information that the mine car can safely pass through the road surface pit degree.
Specifically, the speed data of the mine car passing through the pit historically is obtained through a big data technology, for example, when the opening of the pit is 1 meter long and 1 meter wide, and the depth of the pit is 0.2 meter, the pit allows the maximum speed to be 12km/h, so that a speed regulation instruction is generated through the speed data of the mine car, the speed of the mine car passing through the pit is regulated, and the shortest consumed time is ensured while the mine car passes through the pit safely.
The embodiment of the application provides a road condition identification method of an unmanned mine car, when the road condition of the unmanned mine car is identified, firstly, road surface image information is obtained, then image processing analysis technology is used for carrying out image analysis on the road surface image information to determine whether a road surface pit structure exists in the road surface image information, when the road surface pit structure exists in the road surface image information, the road surface pit information is generated through the pit structure, then the road surface pit information is analyzed to determine whether the road surface pit information meets the preset pit range information, wherein the preset pit range information represents pit information which cannot meet normal running of the mine car, when the road surface pit information meets the preset pit range information, an avoidance instruction is generated to control the mine car to avoid the road surface pit information, when the road surface pit information does not meet the preset pit range information, a speed regulation instruction is generated, the real-time speed of the mine car is adjusted, the safety of the mine car is guaranteed, the running route of the mine car is not changed at will, the consumed time of the mine car in the transportation process is reduced, and therefore the transportation efficiency of the unmanned mine car is improved.
In a possible implementation manner of the embodiment of the present application, step S14 further includes step S141 (not shown in the figure), step S142 (not shown in the figure), step S143 (not shown in the figure), step S144 (not shown in the figure), and step S145 (not shown in the figure), wherein,
in step S141, road image information is acquired.
The road image information is the road image information on the two sides of the road surface image information.
In this embodiment of the present application, road surface image information is obtained through a monitoring device for example, where the monitoring device includes: provided is a panoramic camera.
Specifically, the staff installs a plurality of monitoring devices in the both sides of the route of travel of unmanned mine car, realizes carrying out comprehensive visual field control to road surface and road.
And step S142, carrying out image analysis on the road image information, and determining whether a road pit structure exists in the road image information.
Specifically, in step S11, an Opencv technique, is used to perform image analysis on the road image information, and determine whether the road image information has a road pit structure.
And step S143, if the information exists, performing deep analysis on the road pit structure to generate road pit information.
The information of the road pit comprises information of the depth of the road pit and information of the position of the road pit.
Specifically, the analysis principle of the road pit structure in this step is the same as the analysis principle of the road pit structure in step S12, that is, the road pit depth information is determined according to the visibility of the bottom of the road pit, the road pit position information is determined according to the position information of the monitoring device that captures the road image information, and the road pit information is generated by combining the road pit depth information and the road pit position information.
And step S144, analyzing the road pit information, and determining whether the road pit information meets the preset pit range information.
And step S145, if the position information of the road pothole is not satisfied, analyzing the position information of the road pothole and generating a position adjusting command.
Wherein the position adjustment instructions are for adjusting the position of the wheels of the mine car on the road surface and/or the roadway.
Specifically, when the road pit information and the road pit information do not meet the preset pit range information, the fact that the mine car is difficult to avoid the pits through a simple driving line changing mode is indicated, and therefore the equipment combines the road pit position with the road pit position to generate a position adjusting instruction meeting normal running of the mine car, namely, the wheel position of the mine car is controlled, and the wheels smoothly pass through the road pit structure and the road pit structure.
In a possible implementation manner of the embodiment of the present application, step S10 is followed by step S101 (not shown in the figure), wherein,
and S101, denoising the road image information and the road surface image information, and performing image enhancement on the denoised road image information and road surface image information.
Specifically, noise can be understood as "a factor that hinders human sense organs from understanding the received source information". For example, if a black and white picture has a planar luminance distribution assumed to be f (x, y), then the luminance distribution R (x, y) interfering with its reception is referred to as image noise. Common image noise is additive noise, multiplicative noise, quantization noise, and "salt and pepper" noise. Additive vocal and image signal intensity are uncorrelated, for example: the television camera of "channel noise" that the picture introduces in the transmission process scans the noise of the picture; the vocal and image signals are correlated and tend to vary with changes in the image signal, such as: voice in flying spot scan images, television scan raster, film grain, etc.; quantization noise is the main noise source of digital images, and the size of the quantization noise shows the difference between the digital image and the original image; "salt and pepper" noise, for example: white spots on a black image, black spot noise on a white image, errors introduced in a transform domain, and transform noise caused by inverse image transformation.
In a possible implementation manner of the embodiment of the present application, the step S145 specifically includes a step S1451 (not shown in the figure), a step S1452 (not shown in the figure) and a step S1453 (not shown in the figure), wherein,
step S1451, based on the position information of the road pothole and the position information of the road pothole, determining pothole distance information between the road pothole structure and the road pothole structure.
Specifically, the position information of the monitoring device that currently captures the road surface image information and the position information of the monitoring device that captures the road image information are obtained, the position information of the road surface image information and the position information of the road image information are determined, and then the distance information between the road surface pothole position information and the road pothole position information is analyzed, for example: when the difference between the monitoring equipment of the road surface image information and the monitoring equipment of the road image information is 3 meters, the position information of the road surface pot hole is detected to be positioned at the center of the road surface image information, and when the position information of the road pot hole is also positioned at the center of the road image information, the pot hole distance information between the road surface pot hole structure and the road pot hole structure is 1.5 meters.
Step S1452, determining whether the pit distance information satisfies the predetermined distance information.
Specifically, the preset distance information is width information of the wheels of the mine car, such as: and if the preset distance information is 0.6 m and the pit distance information is 1.5 m, indicating whether the current pit distance information meets the preset distance information.
And step S1453, if yes, obtaining wheel position information, and generating a position adjusting instruction based on the wheel position information and the pit distance information, wherein the wheel position information is the real-time position of the mine car wheel.
In a possible implementation manner of the embodiment of the present application, the step S15 specifically includes a step S151 (not shown in the figure), a step S152 (not shown in the figure), and a step S153 (not shown in the figure), wherein,
and step S151, determining preset weight ratio information of the safe passing pit structure based on the opening information of the road pit and the depth information of the road pit.
Specifically, the weight information and the speed information of the mine car corresponding to the mine car passing through different pavement pit opening information and different pavement pit depth information are obtained through a big data technology, and the preset weight-speed ratio information passing through the current pit structure is determined by comparing the weight information and the speed information of the mine car.
And S152, acquiring the gravity information and the speed information of the mine car, and determining the weight ratio information of the mine car based on the gravity information and the speed information.
And step S153, performing data analysis on the weight ratio information and the preset weight ratio information, determining weight ratio difference value information, and generating a speed regulation instruction according to the weight ratio difference value.
Specifically, the preset weight ratio information is 0.3, namely the maximum speed of the mine car is 32km/h when the weight of the mine car is 10 tons, when the detected actual weight of the mine car is 10 tons and the actual speed of the mine car is 22km/h, the weight ratio of the actual mine car is 0.45, the weight ratio difference information is 0.15, a speed regulating command is generated according to the weight ratio difference information, and the speed of the mine car is increased to 32 km/h.
In a possible implementation manner of the embodiment of the present application, step S1453 is followed by step Sa (not shown in the figure), wherein,
and Sa, marking the road pit position information and the pavement pit position information, and controlling and displaying the marked road pit position information and the marked pavement pit position information.
Specifically, the road pit position information and the road pit position are labeled. For example: '< style =' color: red '> (road hole position, road hole position } </span >'.
In a possible implementation manner of the embodiment of the present application, step S15 further includes step S16 (not shown in the figure), step S17 (not shown in the figure), and step S18 (not shown in the figure), wherein,
and step S16, detecting the real-time state information of the mine car, analyzing the real-time state information and acquiring the real-time state data of the mine car.
Wherein the real-time status data comprises at least one of: running temperature data and real-time oil mass data of the mine car.
Specifically, in the embodiment of the present application, the real-time status data is used as the running temperature data of the mine car for distance description, the running temperature data of the mine car is obtained by using a temperature sensor (but not limited to a temperature sensor), the temperature sensor (temperature sensor) is a sensor capable of sensing the temperature and converting the temperature into a usable output signal, and the temperature sensor reaches thermal equilibrium through conduction or convection, so that the indication value of the thermometer can directly represent the temperature of the measured object. Generally, the measurement precision is higher. The thermometer can also measure the temperature distribution inside the object within a certain temperature measuring range.
Step S17, it is determined whether the real-time status data exceeds a threshold status for the mine car.
Specifically, the running temperature data obtained in step S16 is compared with a temperature threshold value among state threshold values, for example, a temperature threshold value of the mine car is-20 ℃ to +60 ℃, and when the detected running temperature data is less than-20 ℃ or more than 60 ℃, an abnormal condition of the mine car occurs.
In step S18, if the result exceeds the predetermined threshold, the state warning information is generated and the display of the state warning information is controlled.
Specifically, the state warning information is acquired through a control layer (controller), a service layer (service) and a data access layer (dao), the data access layer is only responsible for data interaction with a database, data is read, the service layer needs to write logic codes according to actual service requirements of the system, the service logic layer calls related methods of the data access layer to achieve interaction with the database and feeds execution results back to the control layer, the control layer sends the state warning information to a view renderer for rendering, and finally the state warning information is displayed back.
The above embodiment introduces a road condition recognition method for an unmanned mine car from the perspective of a method flow, and the following embodiment introduces a road condition recognition device for an unmanned mine car from the perspective of a virtual module or a virtual unit, which is described in detail in the following embodiment.
The embodiment of the present application provides a road condition recognition device for an unmanned mine car, as shown in fig. 2, the road condition recognition device 20 for an unmanned mine car may specifically include: an image acquisition module 21, an image analysis module 22, a depth analysis module 23, an information analysis module 24, an avoidance module 25, and a speed regulation module 26, wherein,
the image acquisition module 21 is used for acquiring road surface image information, and the road surface image information is road surface image information of a running route of the mine car;
the image analysis module 22 is configured to perform image analysis on the road surface image information to determine whether a road surface pit structure exists in the road surface image information;
the depth analysis module 23 is configured to, when the road surface image information has a road surface pothole structure, perform depth analysis on the road surface pothole structure to generate road surface pothole information, where the road surface pothole information includes road surface pothole opening information, pothole depth information, and road surface pothole position information;
the information analysis module 24 is used for analyzing the road surface pit information and determining whether the road surface pit information meets preset pit range information, wherein the preset pit range information is used for indicating pit information that the mine car can normally pass through;
the avoidance module 25 is used for generating an avoidance instruction when the road surface pit information meets the preset pit range information, and controlling the mine car to avoid the road surface pit information according to the avoidance instruction;
and the speed regulating module 26 is used for generating a speed regulating instruction when the road surface pit information does not meet the preset pit range information, regulating the real-time speed of the mine car according to the speed regulating instruction and determining that the mine car can safely pass through the road surface pit information.
In a possible implementation manner of the embodiment of the present application, the apparatus 20 further includes: an acquisition module, an analysis module, a generation module, a determination module and an instruction generation module, wherein,
the acquisition module is used for acquiring road image information, wherein the road image information is road image information on two sides of the road surface image information;
the analysis module is used for carrying out image analysis on the road image information and determining whether a road pit structure exists in the road image information;
the generating module is used for carrying out depth analysis on the road pit structure when the road image information has the road pit structure to generate road pit information, and the road pit information comprises road pit depth information and road pit position information;
the determining module is used for analyzing the road pit information and determining whether the road pit information meets the preset pit range information;
and the instruction generating module is used for analyzing the road pit position information and the road pit position information when the road pit information meets the preset pit range information, and generating a position adjusting instruction, wherein the position adjusting instruction is used for adjusting the position of the wheels of the mine car on the road surface and/or the road.
In another possible implementation manner of the embodiment of the present application, the apparatus 20 further includes: an image processing module, wherein,
and the image processing module is used for denoising the road image information and the road surface image information and performing image enhancement processing on the denoised road image information and road surface image information.
In another possible implementation manner of the embodiment of the application, the instruction generating module specifically includes, when analyzing the road pit position information and generating the position adjusting instruction:
determining pit distance information between the road surface pit structure and the road pit structure based on the road surface pit position information and the road pit position information;
judging whether the pit distance information meets preset distance information or not;
and if so, acquiring wheel position information, and generating a position adjusting instruction based on the wheel position information and the pit distance information, wherein the wheel position information is the real-time position of the mine car wheel.
In another possible implementation manner of the embodiment of the application, the speed regulating module 26 is specifically configured to, when generating the speed regulating instruction, regulating the real-time speed of the mine car according to the speed regulating instruction, and determining that the mine car safely passes through the tunnel information of the road surface:
determining preset weight-speed ratio information which safely passes through a pit structure based on the opening information of the pavement pit and the depth information of the pavement pit;
acquiring gravity information and speed information of the mine car, and determining the gravity-speed ratio information of the mine car based on the gravity information and the speed information;
and performing data analysis on the weight ratio information and the preset weight ratio information, determining weight ratio difference value information, and generating a speed regulation instruction according to the weight ratio difference value.
In another possible implementation manner of the embodiment of the present application, the apparatus 20 further includes: a location labeling module, wherein,
and the position marking module is used for marking the road pit position information and controlling and displaying the marked road pit position information and the marked road pit position information.
In another possible implementation manner of the embodiment of the present application, the apparatus 20 further includes: a state analysis module, a state determination module and a control display module, wherein,
the state analysis module is used for detecting the real-time state information of the mine car, analyzing the real-time state information and acquiring the real-time state data of the mine car;
wherein the real-time status data comprises at least one of:
running temperature data and real-time oil mass data of the mine car;
the state determining module is used for determining whether the real-time state data exceeds a state threshold value of the mine car;
and the control display module is used for generating state warning information when the real-time state data exceeds the state threshold value and controlling and displaying the state warning information.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiment of the present application also introduces an electronic apparatus from the perspective of a physical device, as shown in fig. 3, an electronic apparatus 300 shown in fig. 3 includes: a processor 301 and a memory 303. Wherein processor 301 is coupled to memory 303, such as via bus 302. Optionally, the electronic device 300 may also include a transceiver 304. It should be noted that the transceiver 304 is not limited to one in practical applications, and the structure of the electronic device 300 is not limited to the embodiment of the present application.
The Processor 301 may be a CPU (Central Processing Unit), a general-purpose Processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other Programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 301 may also be a combination of computing functions, e.g., comprising one or more microprocessors, a combination of a DSP and a microprocessor, or the like.
The Memory 303 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical Disc storage, optical Disc storage (including Compact Disc, laser Disc, optical Disc, digital versatile Disc, blu-ray Disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to these.
The memory 303 is used for storing application program codes for executing the scheme of the application, and the processor 301 controls the execution. The processor 301 is configured to execute application program code stored in the memory 303 to implement the aspects illustrated in the foregoing method embodiments.
Among them, electronic devices include but are not limited to: mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. But also a server, etc. The electronic device shown in fig. 3 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.
Claims (10)
1. A road condition identification method for an unmanned mine car is characterized by comprising
Acquiring pavement image information, wherein the pavement image information is pavement image information of a running route of a mine car;
carrying out image analysis on the road surface image information to determine whether a road surface pit structure exists in the road surface image information;
if the information exists, performing depth analysis on the pavement pit structure to generate pavement pit information, wherein the pavement pit information comprises pavement pit opening information, pit depth information and pavement pit position information;
analyzing the road surface pit information to determine whether the road surface pit information meets preset pit range information, wherein the preset pit range information is used for representing pit information that the mine car can normally pass through;
if the road surface pit information does not meet the preset road surface pit information, generating an avoiding instruction, and controlling the mine car to avoid the road surface pit information according to the avoiding instruction;
and if so, generating a speed regulation instruction, regulating the real-time speed of the mine car according to the speed regulation instruction, and determining the information that the mine car safely passes through the pit hole on the road surface.
2. The method according to claim 1, wherein the generating of the avoiding instruction and the controlling of the mine car to avoid the pit information according to the avoiding instruction further comprise:
acquiring road image information, wherein the road image information is road image information on two sides of the road surface image information;
carrying out image analysis on the road image information to determine whether a road pit structure exists in the road image information;
if the information exists, carrying out depth analysis on the road pit structure to generate road pit information, wherein the road pit information comprises road pit depth information and road pit position information;
analyzing the road pit information to determine whether the road pit information meets the preset pit range information;
and if the position information does not meet the preset information, analyzing the road surface pit position information and the road pit position information to generate a position adjusting instruction, wherein the position adjusting instruction is used for adjusting the position of the wheels of the mine car on the road surface and/or the road.
3. The method of claim 2, wherein the acquiring road surface image information further comprises:
denoising the road image information and the road surface image information, and performing image enhancement processing on the denoised road image information and the road surface image information.
4. The method of claim 3, wherein analyzing the roadway pit location information and the roadway pit location information to generate a location adjustment command comprises:
determining pit distance information between the road surface pit structure and the road pit structure based on the road surface pit position information and the road pit position information;
judging whether the pit distance information meets preset distance information or not;
and if so, acquiring wheel position information, and generating a position adjusting instruction based on the wheel position information and the pit distance information, wherein the wheel position information is the real-time position of the mine car wheel.
5. The method of claim 1, wherein the generating a speed governing command and adjusting the real-time speed of the mine car in accordance with the speed governing command to determine that the mine car safely passes through the roadway pit information comprises:
determining preset weight ratio information which safely passes through the pit structure based on the pavement pit opening information and the pavement pit depth information;
acquiring gravity information and speed information of the mine car, and determining the gravity ratio information of the mine car based on the gravity information and the speed information;
and performing data analysis on the weight ratio information and the preset weight ratio information, determining weight ratio difference value information, and generating a speed regulation instruction according to the weight ratio difference value.
6. The method of claim 4, wherein the obtaining wheel position information, the wheel position information being a real-time position of the mine car wheels, and generating position adjustment instructions based on the wheel position information and pit distance information, further comprises:
and marking the road pit position information and the road pit position information, and controlling and displaying the marked road pit position information and the marked road pit position information.
7. The method of claim 1, further comprising:
detecting the real-time state information of the mine car, analyzing the real-time state information, and acquiring the real-time state data of the mine car;
wherein the real-time status data comprises at least one of:
running temperature data and real-time oil mass data of the mine car;
determining whether the real-time status data exceeds a status threshold for the mine car;
and if the current state of the battery exceeds the preset threshold value, generating state warning information and controlling to display the state warning information.
8. The utility model provides a road conditions recognition device of unmanned mine car which characterized in that includes:
the image acquisition module is used for acquiring road surface image information, and the road surface image information is road surface image information of a running route of the mine car;
the image analysis module is used for carrying out image analysis on the road surface image information and determining whether a road surface pit structure exists in the road surface image information;
the depth analysis module is used for carrying out depth analysis on the pavement pit structure if the pavement pit structure exists, and generating pavement pit information, wherein the pavement pit information comprises pavement pit opening information, pit depth information and pavement pit position information;
the information analysis module is used for analyzing the road surface pit information and determining whether the road surface pit information meets preset pit range information or not, wherein the preset pit range information is used for representing pit information in which the mine car can normally pass;
the avoidance module is used for generating an avoidance instruction if the information does not meet the preset information, and controlling the mine car to avoid the information of the pits on the road surface according to the avoidance instruction;
and the speed regulating module is used for generating a speed regulating instruction if the road surface pit information is met, regulating the real-time speed of the mine car according to the speed regulating instruction and determining the information that the mine car safely passes through the road surface pit.
9. An electronic device, comprising:
at least one processor;
a memory;
at least one application, wherein the at least one application is stored in the memory and configured to be executed by the at least one processor, the at least one application configured to: executing the road condition recognition method of the unmanned mine car according to any one of claims 1 to 7.
10. A computer-readable storage medium on which a computer program is stored, wherein the computer program, when executed on a computer, causes the computer to execute the method for identifying a road condition of an unmanned mining vehicle according to any one of claims 1 to 7.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116620296A (en) * | 2023-05-18 | 2023-08-22 | 中公高远(北京)汽车检测技术有限公司 | Danger avoiding method and system for intelligent automobile |
| CN116664553A (en) * | 2023-07-26 | 2023-08-29 | 天津矿山工程有限公司 | Explosion drilling method, device, equipment and medium based on artificial intelligence |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116620296A (en) * | 2023-05-18 | 2023-08-22 | 中公高远(北京)汽车检测技术有限公司 | Danger avoiding method and system for intelligent automobile |
| CN116620296B (en) * | 2023-05-18 | 2024-03-12 | 中公高远(北京)汽车检测技术有限公司 | Danger avoiding method and system for intelligent automobile |
| CN116664553A (en) * | 2023-07-26 | 2023-08-29 | 天津矿山工程有限公司 | Explosion drilling method, device, equipment and medium based on artificial intelligence |
| CN116664553B (en) * | 2023-07-26 | 2023-10-20 | 天津矿山工程有限公司 | Explosion drilling method, device, equipment and medium based on artificial intelligence |
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