Underground obstacle detection method and device based on multi-line radar

A radar and radar data technology, applied in the field of obstacle detection, can solve problems such as difficulty in detecting underground obstacles, and achieve the effects of high-precision stereo measurement, long detection distance, and low power consumption

Pending Publication Date: 2022-05-06
NANJING BESTWAY AUTOMATION SYST
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Problems solved by technology

[0004] The embodiment of the present application provides a multi-line radar-based downhole obstacle detection method and device to at least solve the technical problem of difficult downhole obstacle detection

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  • Underground obstacle detection method and device based on multi-line radar
  • Underground obstacle detection method and device based on multi-line radar
  • Underground obstacle detection method and device based on multi-line radar

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Embodiment Construction

[0027] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0028] It should be noted that the steps shown in the flowcharts of the accompanying drawings may be performed in a computer system, such as a set of computer-executable instructions, and that although a logical order is shown in the flowcharts, in some cases, The steps shown or described may be performed in an order different than here.

[0029] like figure 1 It is a flow chart of a multi-line radar-based downhole obstacle detection method according to an embodiment of the present application, such as figure 1 As shown, the process includes the following steps:

[0030] Step S102, acquiring the point cloud data of the multi-line radar and the single-line radar data in the horizontal di...

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Abstract

The invention discloses an underground obstacle detection method and device based on a multi-line radar. The method comprises the steps that point cloud data of the multi-line radar and single-line radar data in the horizontal direction in the multi-line radar are acquired; connecting lines between position points of two fixed-angle radar lines on two sides of the single-line radar data in the advancing direction of the moving object on the side wall of the same side are taken, whether the angle difference between the connecting lines at the current moment and the previous moment is smaller than a preset threshold value or not is judged, and whether the current area is a straight road area or a curve road area is judged; the size of the region of interest is dynamically adjusted; the situation that the interested area intersects with the roadway wall, obstacle detection is triggered, and unnecessary parking is caused is avoided; and obtaining obstacle information on the basis of the point cloud data in the region of interest. Through the multi-line laser radar, high-precision three-dimensional measurement can be realized, and the detection distance is long and is not influenced by underground light conditions of a coal mine.

Description

technical field [0001] The present application relates to obstacle detection, in particular to an underground obstacle detection method and device based on multi-line radar. Background technique [0002] The mine environment has a high risk factor and poor lighting conditions. Locomotives, staff, and objects must pass through the tunnel, and the tunnel space is limited. therefore. Higher requirements are put forward for the driving safety of mining locomotives. [0003] Ultrasonic, millimeter-wave radar, camera and other sensors have obvious defects in the mine environment. For example, the method based on ultrasonic detection is plane detection and the distance is relatively short. Obstacle detection based on millimeter wave radar is only sensitive to moving objects or metal objects. The method based on machine vision is easily affected by light and the detection distance is relatively short. Contents of the invention [0004] Embodiments of the present application pr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/93G01S13/931
CPCG01S13/93G01S13/931
Inventor 郭彬连振中庞辉辉赵伟鹏申志磊金勇
Owner NANJING BESTWAY AUTOMATION SYST
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