Intelligent obstacle detection system for unmanned mine vehicle

An obstacle detection system for an unmanned mine vehicle comprising a processor a memory coupled to the processor, wherein the memory stores a computer program executable by the processor, the obstacle detecting system comprising:

• a detection platform, a route planning device, an obstacle detection device, a planning management device, an operation monitoring device, and a storage device, wherein the route planning device, the obstacle detection device, the planning management device, the operation monitoring device, the storage device are individually communicatively connected with the detection platform, each of the route planning device, the obstacle detection device, the planning management device, and the operation monitoring device are embodied by the processor and the memory coupled to the processor, and the computer program executable by the processor;
• wherein the route planning device is configured to perform route planning analysis for the unmanned mine vehicle to obtain a planned route of the unmanned mine vehicle, and send the planned route of the unmanned mine vehicle to the obstacle detection device through the detection platform;
• wherein the obstacle detection device is configured to detect and analyze an obstacle in the planned route, specifically, the obstacle detection device is configured to:
• control the unmanned mine vehicle to move along the planned route;
• perform, through a plurality of millimeter radars disposed in a front of the unmanned mine vehicle, a real-time obstacle analysis during the movement of the unmanned mine vehicle, to obtain a size of the obstacle in response to the obstacle having been detected and determine whether the size of the obstacle is smaller than a preset size threshold;
• and in response to the size of the obstacle being greater than or equal to the preset size threshold, control the unmanned mine vehicle to avoid the obstacle until the unmanned mine vehicle arrives a target position;
• wherein the planning management device is configured to analyze and manage the planned route of the unmanned mine vehicle, specifically, the planning management device is configured to:
• define the unmanned mine vehicle as a management object, where the unmanned mine vehicle is located at a starting position and is assigned the target position;
• define travel processes of the management object on the planned route as management processes for managing the management object during travelling of the management object;
• obtain an overlap degree between each of the travel routes of the management object during the management processes and the planned route to thereby obtain overlap degrees of the management processes;
• define the overlap degrees as overlap values of the management processes;
• sum up the overlap values of the management processes and taking an average to get an overlap coefficient;
• establish an overlap set based on the overlap values of the management processes;
• and calculate a variance of the overlap set to obtain a deviation coefficient;
• in response to the overlap coefficient being greater than an overlap threshold, send a planning qualification signal to the detection platform, to make the detection platform send the planning qualification signal to a mobile terminal of a management personnel upon receiving the planning qualification signal;
• or in response to the overlap coefficient being less than or equal to the overlap threshold and the deviation coefficient being greater than the deviation threshold, send a road condition management signal to the detection platform, to make the detection platform send the road condition management signal to the mobile terminal of the management personnel upon receiving the road condition management signal;
• or in response to the overlap coefficient being less than or equal to the overlap threshold and the deviation coefficient being less than or equal to the deviation threshold, send a point cloud optimization signal to the detection platform, to make the detection platform send the point cloud optimization signal to the mobile terminal of the management personnel upon receiving the point cloud optimization signal;
• and
• wherein the operation monitoring device is configured to monitor and analyze a driving status of the unmanned mine vehicle on the planned route.