METHOD FOR DETERMINING TRAFFIC AREA AND INDEPENDENTLY AVOIDING OBSTACLES FOR UNMANNED TRANSPORT EQUIPMENT IN UNDERGROUND CONFINED SPACES Russian patent published in 2023 - IPC G05D1/00 G06V20/58 G06V10/26 

FIELD: machine vision.

SUBSTANCE: method for detecting a passable area and independently avoiding obstacles by an unmanned vehicle in underground confined spaces includes the following steps: obtaining data from a three-dimensional cloud of mining points; calculation of a two-dimensional image of a coal mine; obtaining a three-dimensional cloud of points of a coal mine; creating a two-dimensional map and planning an independent path to avoid obstacles. Then, the optimal end point is obtained for selecting a driving path using a greedy policy and allowing the unmanned support vehicle (UV) to move. The workings of a coal mine are actively obtained using a single-chamber sensor device. The three-dimensional spatial movement area of the auxiliary vehicle is calculated in the underground enclosed space, and according to the detection of the movement area and safety assessment information, the autonomous control of the unmanned auxiliary vehicle is completed.

EFFECT: improved safety of vehicle path planning.

8 cl, 10 dwg