CN115249348B - Layered contour route generation method based on mine unmanned driving - Google Patents
Layered contour route generation method based on mine unmanned driving Download PDFInfo
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- G06V20/50—Context or environment of the image
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Abstract
The invention is suitable for the technical field of unmanned driving, and particularly relates to a layered contour route generation method based on mine unmanned driving, which comprises the following steps: acquiring a mining area road image and generating a basic map; identifying a road side boundary in the basic map, determining a road position and generating a scanning path; scanning according to the scanning path, recording the altitude numerical value of each point in real time, and generating a contour map; and generating a transportation path according to the size parameters of the unmanned mine car and the contour map. The height of each point position is recorded in real time in the scanning process, so that a road consisting of the points can be determined according to the scanning position and the height of each point, a contour map is further generated, and finally the transportation path is determined according to the size of the unmanned mine car, so that the stability of the unmanned mine car in the transportation process is ensured, and the shaking of the car body caused by different heights of the four wheels is avoided.
Description
Technical Field
The invention belongs to the technical field of unmanned driving, and particularly relates to a layered contour route generation method based on unmanned mine driving.
Background
The unmanned technology is a complex of a plurality of leading-edge subjects such as a sensor, a computer, artificial intelligence, communication, navigation positioning, mode recognition, machine vision, intelligent control and the like.
Mine transportation, which is to transport useful minerals, waste rocks, etc. extracted from the ground from a mining working face to ground transfer stations, washing and dressing mines, or to transport personnel, materials, equipment, and other materials in and out. Mine transportation is characterized by large transportation volume, multiple varieties, narrow roadway, different transportation distances, complex line and short visible distance, thereby having complex operation, difficult maintenance and high safety requirement.
In the current mine operation process, the unmanned mine car is generally used for completing the transportation of minerals, but the mine road is rugged, the road route of the unmanned mine car is difficult to accurately determine, and the traveling of the unmanned mine car is influenced.
Disclosure of Invention
The embodiment of the invention aims to provide a method for generating a layered contour route based on unmanned mine, and aims to solve the problems that a mine road is rugged, the road route of the mine road is difficult to accurately determine, and the traveling of an unmanned mine car is influenced.
The embodiment of the invention is realized in such a way that a layered contour route generation method based on mine unmanned driving comprises the following steps:
acquiring a mining area road image and generating a basic map;
identifying a road side boundary in the basic map, determining a road position and generating a scanning path;
scanning according to the scanning path, recording the altitude numerical value of each point in real time, and generating a contour map;
and generating a transportation path according to the size parameters of the unmanned tramcar and the contour map, wherein the size parameters of the unmanned tramcar at least comprise four-wheel position parameters and positioning device position parameters.
Preferably, the step of identifying a road boundary in the basic map, determining a road position, and generating a scan path includes:
carrying out line treatment on the basic map, and identifying a road boundary line;
determining the position of a road axis according to the road boundary line, and determining the width of a road according to the position of the road axis;
and generating a scanning path and a starting point coordinate by taking the road axis position as a reference and a preset scanning interval.
Preferably, the step of scanning according to the scanning path, recording the altitude numerical value of each point in real time, and generating the contour map specifically includes:
scanning along a scanning path, and positioning in real time to obtain positioning data;
recording the altitude numerical value of each point location according to the positioning data and a preset sampling interval;
and constructing a road model according to the position relation among the point positions and the corresponding altitude numerical value, and generating a contour map.
Preferably, the step of generating the transportation path according to the size parameter of the unmanned mine car and the contour map specifically includes:
determining the width and the length of the vehicle according to the size parameters of the unmanned mine vehicle;
generating a basic path according to the contour map, and adjusting a route according to the basic path so that front wheels of the unmanned mine car are positioned on the same contour line at any moment and rear wheels are positioned on the same contour line;
and determining the transportation path according to the adjusted line and the position of the positioning device.
Preferably, the mine road image is obtained by splicing separately shot images.
Preferably, the mining area road image is an aerial image, and the shooting height is kept consistent during aerial shooting.
Another object of an embodiment of the present invention is to provide a system for generating a hierarchical contour route based on unmanned mine, including:
the image acquisition module is used for acquiring a mine road image and generating a basic map;
the road scanning module is used for identifying a road side boundary line in the basic map, determining a road position and generating a scanning path;
the contour line recognition module is used for scanning according to the scanning path, recording the altitude numerical value of each point in real time and generating a contour line map;
and the transportation path generating module is used for generating a transportation path according to the size parameters of the unmanned mine car and the contour map, wherein the size parameters of the unmanned mine car at least comprise four-wheel position parameters and positioning device position parameters.
Preferably, the road scanning module includes:
the boundary line identification unit is used for carrying out line treatment on the basic map and identifying a road boundary line;
the road size identification unit is used for determining the position of a road axis according to the road boundary line and determining the width of the road according to the position of the road axis;
and the scanning path generating unit is used for generating a scanning path and a starting point coordinate by taking the road axis position as a reference and a preset scanning interval.
Preferably, the contour recognition module includes:
the scanning positioning unit is used for scanning along a scanning path and positioning in real time to obtain positioning data;
the elevation recording unit is used for recording the elevation numerical value of each point according to the positioning data and a preset sampling interval;
and the map generation unit is used for constructing a road model according to the position relation among the point positions and the corresponding altitude numerical value and generating a contour map.
Preferably, the transportation path generation module includes:
the vehicle size determining unit is used for determining the width and the length of the vehicle according to the size parameters of the unmanned mine car;
the route adjusting unit is used for generating a basic route according to the contour map and adjusting the route according to the basic route so that the front wheels of the unmanned mine car are positioned on the same contour line at any moment and the rear wheels are positioned on the same contour line;
and the route generating unit is used for determining the transportation route according to the adjusted route and the position of the positioning device.
According to the layered contour route generation method based on unmanned mine car driving, the base map is generated through the images obtained through aerial photography, the path of the scanned road is determined according to the base map, the height of each point is recorded in real time in the scanning process, so that a road composed of points can be determined according to the scanning position and the height of each point, the contour map is further generated, the transportation path is finally determined according to the size of the unmanned mine car, the stability of the unmanned mine car in the transportation process is guaranteed, and the shaking of a car body caused by the fact that the heights of four wheels are different is avoided.
Drawings
Fig. 1 is a flowchart of a method for generating a layered contour route based on unmanned mine driving according to an embodiment of the present invention;
FIG. 2 is a flowchart of the steps of identifying a road side boundary in a base map, determining a road location, and generating a scan path according to an embodiment of the present invention;
fig. 3 is a flowchart of the steps of scanning according to the scanning path, recording the altitude value of each point in real time, and generating a contour map according to the scanning path according to the embodiment of the present invention;
FIG. 4 is a flowchart providing steps for generating a transport path based on the size parameters of the unmanned mining vehicle and a contour map, in accordance with an embodiment of the present invention;
fig. 5 is an architecture diagram of a layered contour route generation system based on unmanned mine according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a road scanning module according to an embodiment of the present invention;
fig. 7 is an architecture diagram of a contour recognition module according to an embodiment of the present invention;
fig. 8 is an architecture diagram of a transportation path generation module according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Mine transportation, which is to transport useful minerals, waste rocks, etc. extracted from the ground from a mining working face to ground transfer stations, washing and dressing mines, or to transport personnel, materials, equipment, and other materials in and out. Mine transportation is characterized by large transportation volume, multiple varieties, narrow roadway, different transportation distances, complex line and short visible distance, thereby having complex operation, difficult maintenance and high safety requirement. In the current mine operation process, the unmanned mine car is generally used for completing the transportation of minerals, but the mine road is rugged, the road route of the mine road is difficult to accurately determine, and the traveling of the unmanned mine car is influenced.
According to the invention, a basic map is generated through images obtained by aerial photography, the path of a scanned road is determined based on the basic map, and the height of each point location is recorded in real time in the scanning process, so that a road composed of points can be determined according to the scanned position and the height of each point, a contour map is further generated, and finally, a transportation path is determined according to the size of the unmanned mine car, so that the stability of the unmanned mine car in the transportation process is ensured, and the shaking of a car body caused by different heights of four wheels is avoided.
As shown in fig. 1, a flowchart of a method for generating a hierarchical contour route based on unmanned mine is provided in an embodiment of the present invention, where the method includes:
and S100, acquiring a mining area road image and generating a basic map.
In this step, acquire mining area road image, mining area road image is the image of taking photo by plane, keeps shooting highly uniform during the aerial photography, and is concrete, takes photo by plane through unmanned aerial vehicle, and at the shooting in-process, keeps the distance between unmanned aerial vehicle and the road unchangeable, and then forms complete basic map through the image concatenation.
S200, identifying a road side boundary in the basic map, determining a road position and generating a scanning path.
In the step, the road side boundary lines in the basic map are identified, in order to facilitate identification, gray level processing is firstly carried out on the road side boundary lines, the road side boundary lines are converted into gray level pictures, line striping processing is further carried out, and during road construction, obvious lines appear on the road edges, so that the boundaries of the road can be specifically determined, the two boundaries are the road, the width and the length of the road are determined according to a preset scale, scanning is carried out according to a preset scanning interval, and the height of each point of the road is tested.
S300, scanning is carried out according to the scanning path, the altitude numerical value of each point location is recorded in real time, and a contour map is generated.
In this step, scan according to the scanning route, when scanning, control unmanned mine car and travel along the scanning route, set up height above sea level measuring device on the scanning route, the scanning route is snakelike, along road reciprocating scanning promptly, until covering whole road, in the removal process, constantly measure through height above sea level measuring device to the height above sea level numerical value of each position is recorded, after the scanning is accomplished, can obtain the height above sea level of each position, in view of the above alright in order to generate the contour, and with the road basis, generate the contour map.
S400, generating a transportation path according to the size parameters of the unmanned mine car and the contour map, wherein the size parameters of the unmanned mine car at least comprise four-wheel position parameters and positioning device position parameters.
In the step, a transportation path is generated according to the size parameters of the unmanned mine car and a contour map, and in order to ensure the running stability of the mine car, specific path planning is carried out, so that two front wheels of the mine car are always positioned on the same contour line and two rear wheels are simultaneously positioned on the same contour line on the transportation path, if a plurality of groups of rear wheels exist, at least one group of rear wheels are ensured to be positioned on the same contour line, and in the moving process of the mine car, the front wheels and the rear wheels can be always kept in the same plane, so that the problem of unstable support can not occur; the transportation path is encrypted for storage.
As shown in fig. 2, as a preferred embodiment of the present invention, the step of identifying a road boundary in a basic map, determining a road position, and generating a scan path specifically includes:
s201, the basic map is processed into lines, and road boundary lines are identified.
In this step, the basic map is subjected to line striping, gray processing is firstly performed on the basic map, each pixel point is converted into a gray pixel, the gray pixel is processed to reduce the data processing amount, and then line striping is performed, and through line striping, boundary line identification can be facilitated, and road boundary lines are obtained.
And S202, determining the position of the road axis according to the road boundary line, and determining the width of the road according to the position of the road axis.
In the step, the position of the axis of the road is determined according to the boundary lines of the road, the left boundary line and the right boundary line are obtained after identification, the middle position is the road, a corresponding reference object is arranged on the original road, for example, a sphere with a known diameter is arranged on the original road, the number of pixel points on the diameter of the sphere is counted in a basic map, a corresponding scale is obtained through calculation, if 1000 pixels correspond to 1 meter, the width and the length of the road can be determined according to the number of the pixel points, and a line formed by connecting the middle points of the direct connection lines of the corresponding points of the two boundary lines is the axis of the road.
And S203, generating a scanning path and a starting point coordinate by taking the road axis position as a reference and a preset scanning interval.
In the step, a scanning path and a start point coordinate are generated by taking the axis position of the road as a reference and a preset scanning interval, firstly, the scanning interval is determined, if the scanning interval is set to be 0.1 meter, two ends of the road are respectively set to be an A end and a B end, an unmanned mine car is sent out from the A end and driven to the B end, and then returns to the A end from the B end, two paths are formed at the moment, the distance between the two paths is the scanning interval, the higher the requirement on scanning precision is, the smaller the scanning interval is set, and the start point is the position on the upper most edge of one end of the road, such as the position of the A end closest to a boundary line.
As shown in fig. 3, as a preferred embodiment of the present invention, the step of scanning according to a scanning path, recording an altitude value of each point in real time, and generating a contour map specifically includes:
s301, scanning is carried out along a scanning path, and real-time positioning is carried out to obtain positioning data.
And S302, recording the altitude numerical value of each point according to the positioning data and a preset sampling interval.
In this step, scan along the scanning route, unmanned mine car uses the starting point promptly as the starting point, and then utilizes positioner to learn the position of current unmanned mine car, and then sends corresponding removal instruction to unmanned mine car, constantly measures through altitude measurement device, records data, and here simultaneously, every record an altitude numerical value, the locating information of this point of simultaneous recording obtains the locating data, and every locating data corresponds an altitude numerical value promptly.
And S303, constructing a road model according to the position relation among the point positions and the corresponding altitude numerical value, and generating a contour map.
In this step, a road model is constructed according to the position relationship among the point locations and the corresponding altitude numerical value, a three-dimensional coordinate system is constructed, the starting point is used as the origin, the distribution of the point locations on the horizontal plane (i.e., the coordinates of the X axis and the Y axis) is determined by the positioning data, the coordinates of the Z axis of each point location are further determined according to the altitude numerical value, at this time, a curved surface consisting of points is constructed in the three-dimensional coordinate system, the adjacent point locations are connected by a smooth curve, a curved surface is obtained by fitting, the height information of all the point locations can be obtained, the contour lines are divided according to the height information, and a contour map is generated.
As shown in fig. 4, as a preferred embodiment of the present invention, the step of generating the transportation path according to the size parameter of the unmanned mine car and the contour map specifically includes:
s401, determining the width and the length of the vehicle according to the size parameters of the unmanned mine vehicle.
In the step, the width and the length of the vehicle are determined according to the size parameters of the unmanned tramcar, the size of the unmanned tramcar can be directly obtained, the distance between the two groups of front wheels is regarded as the width of the vehicle, and the distance between the front wheels on the same side and the rear wheels on the last side is regarded as the length of the vehicle.
S402, generating a basic path according to the contour map, and adjusting the route according to the basic path, so that the front wheels of the unmanned mine car are located on the same contour line at any moment, and the rear wheels are located on the same contour line.
And S403, determining a transportation path according to the adjusted line and the position of the positioning device.
In the step, a basic path is generated according to a contour map, the basic path is divided according to the number of lanes in the contour map, if four lanes are obtained through division, the central line of each lane is a basic path, in order to further improve the transportation stability, the contour line in the lane is identified, the direction indicated by the central line of the vehicle is taken as the direction, a direction vector is arranged at the midpoint of the vehicle, the starting position of the direction vector is the intersection point of connecting lines of front wheels and rear wheels on different sides, so that the direction vector is tangent to the basic path all the time, whether the wheels are on the same contour line or not is calculated when the direction vector moves along the basic path, if the front wheels of the unmanned tramcar are on different contour lines and/or the rear wheels are on the same contour line, the basic path is adjusted until the front wheels of the unmanned tramcar are on the same contour line at any moment and the rear wheels are on the same contour line, so as to obtain a corrected path, and the corrected path is the midpoint of the unmanned tramcar; because the positioning device on the unmanned tramcar does not necessarily coincide with the midpoint, a transportation path needs to be generated according to the relative position between the positioning device and the midpoint.
As shown in fig. 5, a system for generating a layered contour route based on unmanned mine according to an embodiment of the present invention includes:
the image obtaining module 100 is configured to obtain a mine road image and generate a basic map.
In this system, image acquisition module 100 acquires the mining area road image, and mining area road image keeps shooting highly uniform for the image of taking photo by plane during the time of taking photo by plane, and is specific, takes photo by plane through unmanned aerial vehicle, and at the shooting in-process, keeps the distance between unmanned aerial vehicle and the road unchangeable, and then forms complete basic map through the image concatenation.
The road scanning module 200 is configured to identify a road boundary in the basic map, determine a road position, and generate a scanning path.
In the system, the road scanning module 200 identifies the road side boundary lines in the basic map, and when identifying the road boundary lines, in order to facilitate identification, gray scale processing is firstly carried out on the road side boundary lines, the road side boundary lines are converted into gray scale pictures, and then line striping processing is carried out, and when road construction is carried out, obvious lines appear on the road edges, so that the boundaries of the road can be specifically determined, the two boundaries are the road, the width and the length of the road are determined according to a preset scale, scanning is carried out according to a preset scanning interval, and the height of each point of the road is tested.
The contour line recognition module 300 is configured to scan according to the scanning path, record an altitude value of each point location in real time, and generate a contour line map.
In this system, the contour recognition module 300 scans according to the scanning path, when scanning, control unmanned mine car to travel along the scanning path, set up the altitude measuring device on the scanning path, the scanning path is snakelike, namely, along road reciprocating scanning, until covering whole road, in the removal process, constantly measure through the altitude measuring device, and record the altitude numerical value of each point location, after the scanning is accomplished, can obtain the altitude of each point location, in view of the above alright in order to generate the contour, and with the road basis, generate the contour map.
A transportation path generating module 400, configured to generate a transportation path according to the size parameters of the unmanned tramcar and the contour map, where the size parameters of the unmanned tramcar at least include a four-wheel position parameter and a positioning device position parameter.
In the system, a transportation path generating module 400 generates a transportation path according to the size parameters of the unmanned mine car and a contour map, and performs specific path planning to ensure the running stability of the mine car, so that two front wheels of the mine car are always on the same contour line and two rear wheels are always on the same contour line on the transportation path, and if a plurality of groups of rear wheels exist, at least one group of rear wheels are ensured to be on the same contour line, so that the front wheels and the rear wheels can be always kept in the same plane in the moving process of the mine car, and the problem of unstable support can not occur; the transportation path is encrypted for storage.
As shown in fig. 6, as a preferred embodiment of the present invention, the road scanning module 200 includes:
boundary line recognition section 201 is configured to perform line formation processing on the base map and recognize a road boundary line.
In this module, the boundary line recognition unit 201 strips the basic map, first performs gray processing on the basic map, converts each pixel point into a gray pixel, and processes the gray pixel to reduce the data processing amount, thereby performing the strip processing.
And the road size identification unit 202 is used for determining the position of the road axis according to the road boundary line and determining the width of the road according to the position of the road axis.
In this module, the road size recognition unit 202 determines the position of the road axis according to the road boundary line, after recognition, two left and right boundary lines are obtained, the middle position is the road, a corresponding reference object is arranged on the original road, for example, a sphere with a known diameter is arranged in the basic map, the number of pixel points on the diameter of the sphere is counted, so that a corresponding scale is obtained through calculation, if 1000 pixels correspond to 1 meter, the width and the length of the road can be determined accordingly, and a line formed by connecting the middle points of the direct connection lines of the corresponding points of the two boundary lines is the road axis.
A scanning path generating unit 203 for generating a scanning path and a start point coordinate with the road axis position as a reference and a preset scanning interval.
In this module, the scanning path generating unit 203 generates a scanning path and a start point coordinate with a road axis position as a reference and a preset scanning interval, and first determines the scanning interval, if the scanning interval is set to be 0.1 m, and if two ends of a road are respectively an a end and a B end, an unmanned mine car is sent out from the a end and driven to the B end, and then returns to the a end from the B end, at this time, two paths will be formed, the distance between the two paths is the scanning interval, and the higher the requirement on scanning accuracy is, the smaller the scanning interval is set, and the start point is the position on the upper most edge of one end of the road, such as the position where the a end is closest to the boundary line.
As shown in fig. 7, as a preferred embodiment of the present invention, the contour recognition module 300 includes:
and the scanning positioning unit 301 is configured to scan along a scanning path and perform real-time positioning to obtain positioning data.
And an altitude recording unit 302, configured to record an altitude value of each point according to the positioning data and a preset sampling interval.
In this module, scanning positioning unit 301 scans along the scanning route, and unmanned mine car uses the initial point as the starting point promptly, and then utilizes positioner to learn the position of current unmanned mine car, and then sends corresponding removal instruction to unmanned mine car, constantly measures through altitude measurement device, records data, and here simultaneously, every altitude numerical value of record, the locating information of this point of simultaneous recording obtains the locating data, and every locating data corresponds an altitude numerical value promptly.
And the map generating unit 303 is configured to construct a road model according to the position relationship between the point locations and the corresponding altitude value, and generate a contour map.
In this module, the map generation unit 303 constructs a road model according to a position relationship between the point locations and the corresponding altitude value, constructs a three-dimensional coordinate system, determines distribution of the point locations on a horizontal plane (i.e., determines coordinates of an X axis and a Y axis) by using the start point as an origin point and using the positioning data, further determines coordinates of a Z axis of each point location according to the altitude value, at this time, constructs a curved surface composed of points in the three-dimensional coordinate system, connects adjacent point locations by using a smooth curve, further fits to obtain a curved surface, that is, obtains height information of all the point locations, divides contours according to the height information, and generates a contour map.
As shown in fig. 8, as a preferred embodiment of the present invention, the transportation path generating module 400 includes:
and a vehicle size determining unit 401 for determining the width and length of the vehicle according to the size parameters of the unmanned mine vehicle.
In this module, the vehicle size determination unit 401 determines the width and length of the vehicle according to the size parameters of the unmanned tramcar, and for the size of the unmanned tramcar, the distance between two sets of front wheels can be directly obtained as the width of the vehicle, and the distance between the front wheel on the same side and the rear wheel on the last side is the length of the vehicle.
And the route adjusting unit 402 is used for generating a basic route according to the contour map and adjusting the route according to the basic route, so that the front wheels of the unmanned tramcar are positioned on the same contour line at any moment, and the rear wheels are positioned on the same contour line.
And a route generating unit 403, configured to determine a transportation path according to the adjusted route and the position of the positioning device.
In the module, a basic path is generated according to a contour map, the basic path is divided according to the number of lanes in the contour map, if four lanes are obtained through division, the central line of each lane is a basic path, in order to further improve the transportation stability, the contour line in the lane is identified, the direction indicated by the central line of a vehicle is taken as the direction, a direction vector is arranged at the midpoint of the vehicle, the starting position of the direction vector is the intersection point of connecting lines of front wheels and rear wheels on different sides, so that the direction vector is tangent to the basic path all the time, whether the wheels are on the same contour line or not is calculated when the direction vector moves along the basic path, if the front wheels of the unmanned tramcar are on different contour lines and/or the rear wheels are on the same contour line, the basic path is adjusted until the front wheels of the unmanned tramcar are on the same contour line at any moment and the rear wheels are on the same contour line so as to obtain a corrected path, and the corrected path is the midpoint of the unmanned tramcar; because the positioning device on the unmanned tramcar does not necessarily coincide with the midpoint, a transportation path needs to be generated according to the relative position between the positioning device and the midpoint.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in various embodiments may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external high-level cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct Rambus Dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM), among others.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A layered contour route generation method based on mine unmanned driving is characterized by comprising the following steps:
acquiring a mining area road image and generating a basic map;
identifying a road boundary in a basic map, determining a road position and generating a scanning path;
scanning according to the scanning path, recording the altitude numerical value of each point in real time, and generating a contour map;
generating a transportation path according to the size parameters of the unmanned mine car and the contour map, wherein the size parameters of the unmanned mine car at least comprise four-wheel position parameters and positioning device position parameters;
the step of generating the transportation path according to the size parameters of the unmanned mine car and the contour map specifically comprises the following steps:
determining the width and the length of the vehicle according to the size parameters of the unmanned mine vehicle;
generating a basic path according to the contour map, and adjusting a route according to the basic path so that front wheels of the unmanned mine car are positioned on the same contour line at any moment and rear wheels are positioned on the same contour line;
and determining the transportation path according to the adjusted line and the position of the positioning device.
2. The mine unmanned-based hierarchical contour route generation method according to claim 1, wherein the step of identifying a road side boundary in a base map, determining a road position, and generating a scan path specifically comprises:
carrying out line treatment on the basic map, and identifying a road boundary line;
determining the position of a road axis according to the road boundary line, and determining the width of a road according to the position of the road axis;
and generating a scanning path and a starting point coordinate by taking the road axis position as a reference and a preset scanning interval.
3. The method for generating the layered contour route based on the unmanned mine as claimed in claim 1, wherein the step of scanning according to the scanning path, recording the altitude value of each point in real time, and generating the contour map specifically comprises:
scanning along a scanning path, and positioning in real time to obtain positioning data;
recording the altitude numerical value of each point location according to the positioning data and a preset sampling interval;
and constructing a road model according to the position relation among the point positions and the corresponding altitude numerical value, and generating a contour map.
4. The mine unmanned-based hierarchical contour route generation method as recited in claim 1, wherein the mine road images are stitched from separately captured images.
5. The method for generating the layered contour route based on the unmanned mine as claimed in claim 1, wherein the images of the roads in the mining area are aerial images, and the shooting heights are kept consistent during aerial shooting.
6. The mine unmanned-based hierarchical contour route generation method as recited in claim 1, wherein the transportation path is stored in encrypted form.
7. The method for generating a hierarchical contour route based on unmanned mine according to claim 2, wherein the base map is subjected to gray scale processing before being striped.
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