The invention relates to the technical field of intelligent control, in particular to an obstacle avoidance steering correction method based on an unmanned mine car, and the method comprises the steps: collecting a front gray image when the unmanned mine car moves, and obtaining a reserved point in the gray image; constructing a clustering distance measurement formula based on the gray value difference and the depth value difference between the pixel points, and further obtaining at least two categories corresponding to each reserved point and the neighborhood pixel points thereof; the confusion degree of each category corresponding to the reserved points is obtained, so that the probability that the reserved points are actual edge points is obtained, and all the actual edge points are obtained; obtaining an edge line according to all actual edge points in the grayscale image, repairing the edge line to obtain an obstacle contour, obtaining obstacle feature points based on the obstacle contour, judging whether the obstacle is a dynamic obstacle, and planning an obstacle avoidance strategy of the unmanned mine car according to the motion information of the dynamic obstacle; obstacles can be obtained more accurately, and reliability and timeliness of obstacle avoidance of the unmanned mine car are guaranteed.

    本发明涉及智能控制技术领域,具体涉及一种基于无人驾驶矿车的避障转向矫正方法,该方法包括:采集无人驾驶矿车运动时前方的灰度图像,获取灰度图像中的保留点;基于像素点之间的灰度值差异和深度值差异构建聚类距离度量公式,进而获取每个保留点及其邻域像素点对应的至少两个类别;获取保留点对应的每个类别的混乱程度,以得到保留点为实际边缘点的概率并得到所有的实际边缘点;根据灰度图像中所有的实际边缘点得到边缘线并进行修补得到障碍物轮廓,基于障碍物轮廓获取障碍物特征点,判断是否为动态障碍物,从而根据动态障碍物的运动信息规划无人驾驶矿车的避障策略;障碍物获取的更加准确,且保证了无人驾驶矿车避障的可靠和及时。


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    Title :

    Obstacle avoidance steering correction method based on unmanned mine car


    Additional title:

    一种基于无人驾驶矿车的避障转向矫正方法


    Contributors:
    YANG YANG (author) / LI YIBING (author) / QING QILIN (author) / HE YIHUA (author) / TANG YONG (author) / BAI CHAO (author)

    Publication date :

    2023-03-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06V / 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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