Patent ID: 11880208
Assignee: CHINA UNIVERSITY OF MINING AND TECHNOLOGY
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 1:
2. The method for drivable area detection and autonomous obstacle avoidance of unmanned haulage equipment in deep confined spaces according to claim 1, wherein in step S112, the process of performing coal mine roadway image enhancement processing on the corrected image obtained in step S111 by using an image enhancement algorithm based on logarithmic Log transformation comprises the following steps:
S1121: based on an image logarithmic transformation formula, transforming the corrected coal mine roadway image obtained in step S111 by using a formula as follows:

s=c·logv+i(1+v·r), where, r is an input grayscale of the image, r∈[0, 1], s is an output grayscale of the image, c is a constant, and v is a logarithmic Log transformation intensity adjustment factor;
S1122: normalizing a logarithmically transformed coal mine roadway image obtained in step S1121 to 0-255 for transformation according to a formula as follows:, g
  =
  
   
    
     s
     -
     
      s
      min
     
    
    
     
      s
      max
     
     -
     
      s
      min
     
    
   
   ·
   255, where, s is an unnormalized input grayscale, g is a normalized output grayscale, smax is a maximum grayscale of the image, and smin is a minimum grayscale of the image.