Method for drivable area detection and autonomous obstacle avoidance of unmanned haulage equipment in deep confined spaces

US11880208B2 · kind B2 · utility

Assignee

• China University of Mining and Technology · CN

Inventors

• Chunyu Yang · Beijing, CN
• Zhencai Zhu · 安丰镇, CN
• Yidong Zhang · Xuzhou, CN
• Xin Zhang · Beijing, CN
• Zhen Gu · Los Angeles, US
• Qingguo Wang · 安丰镇, CN

Key dates

• Filing date: Feb 23, 2022
• Grant date: Jan 23, 2024
• Expiry date: Feb 23, 2042

Classification

• Technology area (CPC G): Physics
• CPC primary: G06T2207/30261
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A method for drivable area detection and autonomous obstacle avoidance of unmanned haulage equipment in deep confined spaces is disclosed, which includes the following steps: acquiring 3D point cloud data of a roadway; computing a 2D image drivable area of the coal mine roadway; acquiring a 3D point cloud drivable area of the coal mine roadway; establishing a 2D grid map and a risk map, and performing autonomous obstacle avoidance path planning by using a particle swarm path planning method designed for deep confined roadways; and acquiring an optimal end point to be selected of a driving path by using a greedy strategy, and enabling an unmanned auxiliary haulage vehicle to drive according to the optimal end point and an optimal path. Images of a coal mine roadway are acquired actively by use of a single-camera sensor device.