The invention relates to a safe obstacle avoidance method and device for an underground trackless rubber-tyred vehicle, a medium and electronic equipment, and relates to the technical field of vehicle obstacle avoidance, and the method comprises the steps: obtaining a first distance between a target trackless rubber-tyred vehicle in an underground roadway and each surrounding person based on a UWB precise positioning system; if the first distance is not greater than the first preset distance, an obstacle avoidance prompt is sent to the target trackless rubber-tyred vehicle; if the first distance is greater than the first preset distance and is not greater than the second preset distance, determining a first to-be-moved track of the corresponding target surrounding personnel and a second to-be-moved track of the target trackless rubber-tyred vehicle, and if the target surrounding personnel encounter the target trackless rubber-tyred vehicle, determining that the target surrounding personnel encounter the target trackless rubber-tyred vehicle. If yes, the second distance between the target surrounding personnel and the target trackless rubber-tyred vehicle is obtained again, the second distance serves as the first distance, and if the first distance is not larger than the first preset distance, the step that an obstacle avoidance prompt is sent to the target trackless rubber-tyred vehicle is executed repeatedly. The method has the effect of reducing the safety obstacle avoidance cost of the underground trackless rubber-tyred vehicle.
本申请涉及一种井下无轨胶轮车安全避障方法、装置、介质及电子设备,涉及车辆避障技术领域,其中方法包括:基于UWB精准定位系统获取井下巷道内目标无轨胶轮车与各周边人员的第一距离;若第一距离不大于第一预设距离,则向目标无轨胶轮车发送避障提醒;若第一距离大于第一预设距离且不大于第二预设距离,则确定对应的目标周边人员的第一即将移动轨迹、目标无轨胶轮车的第二即将移动轨迹,若目标周边人员和目标无轨胶轮车相遇,则重新获取目标周边人员与目标无轨胶轮车的第二距离,将第二距离作为第一距离并重复执行若第一距离不大于第一预设距离,则向目标无轨胶轮车发送避障提醒的步骤。本申请具有降低井下无轨胶轮车安全避障成本的效果。
Safe obstacle avoidance method and device for underground trackless rubber-tyred vehicle, medium and electronic equipment
井下无轨胶轮车安全避障方法、装置、介质及电子设备
2024-08-02
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 / G08B SIGNALLING OR CALLING SYSTEMS , Signalisier- oder Rufsysteme / G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Path planning method for underground unmanned trackless rubber-tyred vehicle
European Patent Office | 2021
|Automatic operation method for underground mine trackless rubber-tyred vehicle
European Patent Office | 2023
|