The invention discloses a path planning method for an underground unmanned trackless rubber-tyred vehicle, and the method comprises the steps: enabling a data collection device to be installed on the unmanned trackless rubber-tyred vehicle, enabling the unmanned trackless rubber-tyred vehicle to move in an underground roadway at a constant speed, collecting the road data in a moving process in real time through the data collection device, and feeding back the data to an NUC computer, and finally traversing the driving area of the whole underground roadway to obtain an original point cloud data packet; according to the original point cloud data packet, establishing an underground roadway three-dimensional point cloud map through an algorithm, then segmenting the three-dimensional point cloud map to obtain a strip-shaped ground point cloud, and finally performing iterative drifting on the strip-shaped point cloud to obtain a roadway center point set; splitting the obtained linear central point set of the roadway into a plurality of sections of non-bifurcation point sets; finally, splicing an underground roadway road network with a topological relation. and finally carrying out path planning according to the roadway road network. The roadway road network obtained through the method can effectively restore the real trend of the underground roadway, and it is ensured that the trackless rubber-tyred vehicle arrives at the target point in the shortest time.

    本发明公开了一种井下无人驾驶无轨胶轮车的路径规划方法,数据采集装置安装在有人驾驶的无轨胶轮车,然后匀速在井下巷道内行进,通过数据采集装置实时采集行进过程中的道路数据并反馈给NUC电脑,最终遍历整个井下巷道的行驶区域获得原始点云数据包;然后根据原始点云数据包依次通过算法先建立井下巷道三维点云地图,接着对三维点云地图进行分割,获得条带状地面点云,最后对条带状点云进行迭代漂移得到巷道中心点集;接着将得到的巷道线状中心点集拆分成若干段无分叉的点集;最终拼接成具有拓扑关系的井下巷道路网;最终根据该巷道路网进行路径规划。本发明得出的巷道路网能有效还原井下巷道的真实走向,确保无轨胶轮车以最短的时间到达目标点。


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    Title :

    Path planning method for underground unmanned trackless rubber-tyred vehicle


    Additional title:

    一种井下无人驾驶无轨胶轮车的路径规划方法


    Contributors:
    YE BIN (author) / FENG ZHENNAN (author) / YANG XIN (author) / LI HUIJUN (author)

    Publication date :

    2021-06-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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