4D光场在露天煤矿卡车无人驾驶系统中的应用研究

Research on Application of 4D Light Field in Unmanned Systems for Mining Trucks of Open-pit Coal Mines

露天煤矿的封闭性、作业的高强度特性、煤矿卡车的低速特性为无人驾驶技术提供了很好的应用场合,采用无人驾驶技术可以提高露天煤矿的运输效率和运输安全性,减少运输成本。感知数据作为无人驾驶系统决策的依据,由数量众多的传感器提供,其中激光雷达是重要的传感器之一,但激光雷达存在成本高、获取数据点数少、无颜色信息、目标识别困难等特点,在一定程度上制约了无人驾驶系统在煤矿卡车上的应用。针对激光雷达存在的问题,本文研究了4D光场技术在煤矿卡车无人驾驶系统中的应用,通过单一的工业相机实时获取三维点云和二维颜色信息,极大地丰富了无人驾驶系统获取的有效数据,有效降低后续系统处理的复杂性,在提高系统的可靠性、实时性、安全性以及降低成本方面具有重要意义。

The closure of open-pit coal mines,the high strength of operation,and the low speed of mining trucks create a good application condition for the unmanned technology.Application of the unmanned technol⁃ogy can improve the transportation efficiency and safety of the open-pit coal mines and reduce the transporta⁃tion cost.As the basis for decision-making of the unmanned system,the perception data is provided by many sensors.However,as one of the important sensors,laser radar is featured by high cost,few data points,no color information,difficulty in target identification,etc.,which limit the application of the un⁃manned technology in the mining trucks to a certain extent.Aiming at the problems of laser radar,this arti⁃cle studies the application of the 4D light field in the unmanned system of the mining trucks and obtains the 3D point cloud and 2D color information in real time through a single industrial camera,which greatly enriches the effective data obtained by the unmanned system,reduces the complexity of the subsequent sys⁃tem processing,and is of great significance in improving the reliability,real-time performance and security of the unmanned system and reducing the cost.