The invention discloses an obstacle avoidance method and system for an unmanned mine car in a snowy open-pit mine, and the method comprises the steps: carrying out the real-time sensing of a scene in front of a driving path of the unmanned mine car, so as to obtain the sensing data information; then the sensing data information is recognized to obtain the type and position information of an obstacle existing in front of the driving path of the unmanned mine car; if the type of the obstacle is rockfall, three-dimensional data information of the accumulated snow exposed part of the obstacle is further extracted from the sensing data information; according to the three-dimensional data information of the accumulated snow exposed part of the obstacle and the accumulated snow depth monitored in real time, estimated size information of the obstacle is measured and calculated; under the condition of determining that the estimated size information of the obstacle meets the preset obstacle avoidance condition, re-planning the driving path of the unmanned mine car based on the position information of the obstacle so as to perform obstacle avoidance; according to the method, the obstacle recognition precision of the unmanned mine car in the snowy days is improved, and safety accidents are effectively reduced.
本发明公开了一种雪天露天矿无人驾驶矿车的避障方法及系统,该方法包括:对无人驾驶矿车行驶路径前方场景进行实时感知,以获得感知数据信息;之后对感知数据信息进行识别处理,以得到无人驾驶矿车行驶路径前方存在的障碍物的类型和位置信息;如果障碍物的类型为落石,则进一步从感知数据信息中提取得到障碍物露出积雪部分的三维数据信息;根据障碍物露出积雪部分的三维数据信息和实时监测的积雪深度测算得到障碍物的预估尺寸信息;在确定障碍物的预估尺寸信息满足预设避障条件的情况下,基于障碍物的位置信息重新规划无人驾驶矿车行驶路径,以进行避障;该方法提高了雪天无人驾驶矿车的障碍物识别精度,有效减少安全事故的发生。
Obstacle avoidance method and system for unmanned mine car in strip mine in snowy days
雪天露天矿无人驾驶矿车的避障方法及系统
2025-03-21
Patent
Electronic Resource
Chinese
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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