CN113593284B - Method and device for planning path of vehicle in mine roadway and electronic equipment - Google Patents
Method and device for planning path of vehicle in mine roadway and electronic equipment Download PDFInfo
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- CN113593284B CN113593284B CN202110865485.0A CN202110865485A CN113593284B CN 113593284 B CN113593284 B CN 113593284B CN 202110865485 A CN202110865485 A CN 202110865485A CN 113593284 B CN113593284 B CN 113593284B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The invention provides a method and a device for planning a path of a vehicle in a mine roadway and electronic equipment, wherein the method comprises the following steps: acquiring the current position of a target vehicle in a mine tunnel and the current position of the target vehicle relative to the mine tunnel; generating a planned path for the target vehicle by inputting the current position and the current orientation into a path planning model; and controlling the target vehicle to move in the mine roadway according to the planned path. By the method and the device, the technical problem of inaccurate path planning of the vehicles in the mine roadway in the related technology is solved.
Description
Technical Field
The invention relates to intelligent control, in particular to a method and a device for planning a path of a vehicle in a mine roadway and electronic equipment.
Background
In order to respond to national development calls and achieve the aim of low-humanization and even no-humanization of underground tunneling working faces, the development of intelligent tunneling technologies is greatly promoted in the industry, the remote one-key automatic cutting function is achieved, and the progress is made towards the unmanned aim. With the continuous advance of intelligent systems in the industry and the continuous improvement of the requirements of customers on the automatic cutting process, the path planning of the heading machine needs to adapt to a large-width roadway, and the boundary forming precision needs to be further improved.
However, existing path planning algorithms are relatively single; when the geological conditions of the roadway are poor and the coal wall has a fault phenomenon, the automatic cutting can cause the transverse movement of the vehicle body, so that the forming error of the roadway boundary is large; secondly, the position debugging of the automatic cutting process at the present stage is too complicated; for the tunnel with over-wide geology, the continuous automatic cutting is difficult to realize, and the result and the processing efficiency are influenced by human intervention in the process. That is to say, the current operation route planning of mine underground vehicle has inaccurate problem.
In view of the above technical problems in the related art, no effective solution has been proposed at present.
Disclosure of Invention
In view of the above problems, the present invention provides a method and an apparatus for planning a path of a vehicle in a mine roadway, and an electronic device, so as to at least solve the technical problem in the related art that the path planning of the vehicle in the mine roadway is inaccurate.
In a first aspect, the present invention provides a method for planning a path of a vehicle in a mine roadway, including: acquiring the current position of a target vehicle in a mine tunnel and the current position of the target vehicle relative to the mine tunnel; generating a planned path for the target vehicle by inputting the current position and the current orientation into a path planning model; and controlling the target vehicle to move in the mine roadway according to the planned path.
Optionally, before inputting the current position and the current orientation into the path planning model, the method further includes: acquiring historical track data of the target vehicle in the mine roadway; wherein the historical track data comprises at least: a movement path, a translation offset, and a translation orientation; and training a deep learning model by using the historical track data to obtain a path planning model corresponding to the target vehicle.
Optionally, the generating the planned path of the target vehicle by inputting the current position and the current position into a path planning model includes: matching the current position and the current position with historical track data in the path planning model to match a plurality of planned paths corresponding to the target vehicle; screening a planned path suitable for the target vehicle from the plurality of planned paths according to a preset screening condition; wherein the preset screening condition comprises one of the following conditions: the translation time is shortest and the translation distance is shortest.
Optionally, the controlling the target vehicle to move in the mine roadway according to the planned path includes: generating a control signal to the target vehicle, wherein the control signal carries a translation offset of the target vehicle and an azimuth angle relative to the mine roadway; and controlling the target vehicle to move according to the translation offset and the azimuth angle.
Optionally, the controlling the target vehicle to move in the mine roadway according to the planned path includes: receiving the real-time position and the corresponding real-time direction fed back by the target vehicle in real time; comparing the real-time position and the real-time orientation with historical movement data in a preset database respectively, wherein the historical movement data at least comprises: a movement path specifying a forward distance and a backward distance within a range; if the deviation between the real-time position and/or the real-time position and the historical movement data is within a first preset range, continuing to execute the operation of controlling the target vehicle to move; and if the deviation between the real-time position and/or the real-time position and the historical movement data exceeds the first preset range, performing deviation compensation on the real-time position and/or the real-time position by using a differential model, and controlling the target vehicle to move based on the real-time position and/or the real-time position after deviation compensation.
Optionally, after receiving the real-time position and the corresponding real-time position fed back by the target vehicle in real time, the method further includes: detecting a forward-backward movable distance of the target vehicle based on the real-time position and the position of the mine roadway; if the front movable distance of the target vehicle is within a second preset range or the back movable distance of the target vehicle is within a third preset range, controlling the target vehicle to move forwards or backwards; and if the front movable distance of the target vehicle exceeds the second preset range or the back movable distance exceeds the third preset range, controlling the target vehicle to back or move forward.
Optionally, the method further includes: and simulating and displaying the moving track of the target vehicle on a human-computer interaction terminal interface in real time.
In a second aspect, the present invention further provides a path planning apparatus for vehicles in a mine roadway, including: the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the current position of a target vehicle in a mine roadway and the current position of the target vehicle relative to the mine roadway; a first generation module for generating a planned path of the target vehicle by inputting the current position and the current orientation into a path planning model; and the control module is used for controlling the target vehicle to move in the mine roadway according to the planned path.
Optionally, the apparatus further comprises: a second obtaining module, configured to obtain historical trajectory data of the target vehicle in the mine roadway before inputting the current position and the current orientation into a path planning model; wherein the historical track data comprises at least: a movement path, a translation offset, a translation orientation; and the second generation module is used for training a deep learning model by using the historical track data to obtain a path planning model corresponding to the target vehicle.
Optionally, the first generating module includes: the matching unit is used for matching the current position and the current position with historical track data in the path planning model so as to match a plurality of planned paths corresponding to the target vehicle; the screening unit is used for screening out a planned path suitable for the target vehicle from the plurality of planned paths according to preset screening conditions; wherein the preset screening condition comprises one of the following conditions: the translation time is shortest and the translation distance is shortest.
Optionally, the control module includes: the sending unit is used for generating a control signal to the target vehicle, wherein the control signal carries the translation offset of the target vehicle and the azimuth angle relative to the mine roadway; and the control unit is used for controlling the target vehicle to move according to the translation offset and the azimuth angle.
Optionally, the control module includes: the receiving unit is used for receiving the real-time position and the corresponding real-time direction fed back by the target vehicle in real time; a comparing unit, configured to compare the real-time location and the real-time position with historical movement data in a preset database, where the historical movement data at least includes: a movement path specifying a forward distance and a backward distance within a range; a first execution unit, configured to continue to execute an operation of controlling movement of the target vehicle when a deviation between the real-time position and/or the real-time bearing and the historical movement data is within a first preset range; and when the deviation between the real-time position and/or the real-time position and the historical movement data exceeds the first preset range, performing deviation compensation on the real-time position and/or the real-time position by using a differential model, and controlling the target vehicle to move based on the real-time position and/or the real-time position after the deviation compensation.
Optionally, the apparatus further comprises: the detection module is used for detecting the front-back movable distance of the target vehicle based on the real-time position and the position of the mine roadway after receiving the real-time position and the corresponding real-time position fed back by the target vehicle in real time; a second executing unit configured to control the target vehicle to advance or retreat when a forward movable distance of the target vehicle is within a second preset range or a retreat movable distance is within a third preset range; and when the front movable distance of the target vehicle exceeds the second preset range or the back movable distance exceeds the third preset range, controlling the target vehicle to back or move forward.
Optionally, the apparatus further comprises: and the display module is used for simulating and displaying the moving track of the target vehicle on a human-computer interaction terminal interface in real time.
In a third aspect, the present invention also provides an electronic device, comprising a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.
In a fourth aspect, the present invention also provides a storage medium having a computer program stored thereon, wherein the computer program is arranged to perform the steps in any of the apparatus embodiments described above when executed.
The method for planning the path of the vehicle in the mine roadway provided by the embodiment of the invention comprises the steps of obtaining the current position of a target vehicle in the mine roadway and the current position relative to the mine roadway through navigation, and inputting the current position and the current position into a preset path planning model to generate a planned path suitable for the target vehicle; the target vehicle is controlled to move in the mine tunnel according to the planned path, the path planning of the vehicle running in the mine tunnel is accurately generated through an algorithm, and the vehicle running in the mine tunnel can be remotely controlled, so that the technical problem that the path planning of the vehicle in the mine tunnel is inaccurate in the related technology is solved, and the intelligent planning of the translation path of the development machine in the tunnel can be further realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below.
Fig. 1 is a block diagram of a hardware structure in which a path planning method for vehicles in mine roadways provided by an embodiment of the present invention is applied to a computer terminal;
fig. 2 is a flowchart of a path planning method for vehicles in mine roadways according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a path moving track of a vehicle in a mine roadway according to an embodiment of the invention;
FIG. 4 is a flow chart of path planning for vehicles in mine roadways provided in accordance with an embodiment of the present invention;
fig. 5 is a block diagram of a path planning apparatus for vehicles in mine roadways according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that such uses are interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the term "include" and its variants are to be read as open-ended terms meaning "including, but not limited to".
In order to solve the technical problems in the related art, the embodiment provides a path planning method for vehicles in a mine roadway. The following describes the technical solution of the present invention and how to solve the above technical problems with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
The method provided by the embodiment of the invention can be executed in a mobile terminal, a server, a computer terminal or a similar operation device. Taking the operation on a computer terminal as an example, fig. 1 is a hardware structure block diagram of a path planning method for vehicles in a mine roadway applied to the computer terminal provided by the embodiment of the invention. As shown in fig. 1, the computer terminal may include one or more (only one shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, and optionally, a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration and is not intended to limit the structure of the computer terminal. For example, the computer terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program and a module of an application software, such as a computer program corresponding to the method for planning a path of a vehicle in a mine roadway in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory, and may also include volatile memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to a computer terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the computer terminal. In one example, the transmission device 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
Fig. 2 is a flowchart of a method for planning a path of a vehicle in a mine roadway according to an embodiment of the present invention, and as shown in fig. 2, the flowchart includes the following steps:
step S202, acquiring the current position of a target vehicle in a mine roadway and the current position of the target vehicle relative to the mine roadway;
in this embodiment, the position data and the azimuth data of the vehicle in the mine roadway can be obtained through a sensing unit, for example, an inertial navigation sensor or a displacement sensor is mounted on the vehicle. The basic working principle of inertial navigation is based on Newton's law of mechanics, and the inertial navigation system (INS, inertial navigation for short) is based on measuring the acceleration of a carrier in an inertial reference system, integrating the acceleration with time and transforming the acceleration into a navigation coordinate system, so that information such as speed, yaw angle and position in the navigation coordinate system can be obtained; because the inertial navigation does not depend on any external information and does not radiate energy to the outside, the inertial navigation has good concealment and is not influenced by external electromagnetic interference, and the measured position data and the measured azimuth data are more accurate; the inertial navigation can work under the coal mine all day long and in full time; the method can acquire the position, speed, course and attitude angle data of the vehicle, and the navigation information generated by the method has good continuity, low noise, high data updating rate, and good short-term precision and stability.
Step S204, inputting the current position and the current position into a path planning model to generate a planned path of the target vehicle;
the path planning model in the embodiment can be obtained by training the deep learning model by using the historical track of the coal mine underground operation vehicle, namely, the planned path suitable for the target vehicle is matched according to the experience of the historical movement data of the coal mine underground vehicle, and the accuracy of the path planning of the coal mine underground vehicle is improved.
And S206, controlling the target vehicle to move in the mine roadway according to the planned path.
According to the path planning method for the vehicle in the mine tunnel, provided by the embodiment of the invention, the current position of the target vehicle in the mine tunnel and the current position relative to the mine tunnel are obtained through navigation, and the current position are input into a preset path planning model to generate a planned path suitable for the target vehicle; the target vehicle is controlled to move in the mine tunnel according to the planned path, the path planning of the vehicle running in the mine tunnel is accurately generated through an algorithm, and the vehicle running in the mine tunnel can be remotely controlled, so that the technical problem that the path planning of the vehicle in the mine tunnel is inaccurate in the related technology is solved, and the intelligent planning of the translation path of the development machine in the tunnel can be further realized.
In an optional embodiment of the present disclosure, before inputting the current position and the current orientation into the path planning model, the method further includes: acquiring historical track data of a target vehicle in a mine roadway; wherein, the historical track data at least comprises: a movement path, a translation offset, a translation orientation; and training the deep learning model by using the historical track data to obtain a path planning model corresponding to the target vehicle. According to the embodiment, the original driving path of the vehicle in the mine roadway, such as the moving track, the vehicle translation offset and the translation azimuth, is used for training the initial model of deep learning, such as the models of a Convolutional Neural network (CNN for short), a recurrent Neural network (RNN for short) and the like, the optimal planned path of the vehicle is matched through an algorithm, and the accuracy of the route planning of the vehicle in the mine is improved.
In an alternative embodiment of the present disclosure, generating the planned path of the target vehicle by inputting the current position and the current orientation into the path planning model comprises: matching the current position and the current position with historical track data in a path planning model to match a plurality of planned paths corresponding to the target vehicle; screening a planned path suitable for a target vehicle from a plurality of planned paths according to preset screening conditions; wherein, the preset screening condition comprises one of the following conditions: the translation time is shortest and the translation distance is shortest.
Taking a heading machine as an example, the heading machine has 2 driving tracks when the heading machine translates from a point A to a point B in a mine roadway, wherein one track is the shortest in translation distance, and the other track is the shortest in translation time; and then, according to preset screening conditions, such as user requirements, selecting a planned path suitable for the current vehicle, and selecting the optimal planned path of the vehicle in a self-adaptive manner, so that the flexibility is high, and the operation is convenient.
In an alternative embodiment, controlling the target vehicle to move within the mine roadway according to the planned path includes: generating a control signal to a target vehicle, wherein the control signal carries the translation offset of the target vehicle and the azimuth angle relative to the mine roadway; and controlling the target vehicle to move according to the translation offset and the azimuth angle.
Preferably, the intelligent path planning method provided by the embodiment can be installed in an upper computer (such as a mobile terminal, a computer, a server and the like), after the upper computer matches the optimal planned path of the vehicle through an algorithm, the upper computer calculates the offset and the heading angle of the vehicle to be moved according to the planned path and the current position information of the vehicle, and sends a control signal carrying the offset and the heading angle to the underground mining operation vehicle through a wireless communication network, so that the operation vehicle can be remotely controlled to move without people on site.
In one possible implementation manner of the present disclosure, controlling the target vehicle to move in the mine roadway according to the planned path includes: receiving a real-time position and a corresponding real-time direction fed back by a target vehicle in real time; comparing the real-time position and the real-time orientation with historical movement data in a preset database respectively, wherein the historical movement data at least comprises: a movement path specifying a forward distance and a backward distance within a range; if the deviation between the real-time position and/or the real-time direction and the historical movement data is within a first preset range, continuing to execute the operation of controlling the movement of the target vehicle; and if the deviation between the real-time position and/or the real-time direction and the historical movement data exceeds a first preset range, performing deviation compensation on the real-time position and/or the real-time direction by using a differential model, and controlling the movement of the target vehicle based on the real-time position and/or the real-time direction after the deviation compensation.
In the embodiment, the moving data of the heading machine is collected in real time by building a database, and the data is subjected to quantization processing to reversely calculate the virtual moving data (namely, the planned path), so that when the actual data and the virtual data deviate, the difference is compensated in a differential mode.
In this embodiment, the driving path (including real-time position coordinates and real-time orientation) of the vehicle in the mine roadway is fed back in real time, and the driving simulation diagram of the vehicle can be simulated on the upper computer, for example, a top view of the current working face can be presented, so that the moving path of the heading machine is simulated, the working vehicle is tracked remotely, and the abnormality of the vehicle is found in time. Through the embodiment, whether the working vehicle needs to be transversely moved or not, and the offset and the direction of transverse movement can be detected according to the real-time position and the real-time direction. For example, the deviation of the moving direction of the vehicle from the roadway direction needs to be guaranteed to be within 10 degrees, the vehicle is safe to run, and the planned path is accurate.
Optionally, after receiving the real-time position and the corresponding real-time position fed back by the target vehicle in real time, further comprising: detecting the front-back movable distance of the target vehicle based on the real-time position and the position of the mine roadway; if the front movable distance of the target vehicle is within a second preset range or the back movable distance of the target vehicle is within a third preset range, controlling the target vehicle to move forwards or backwards; and if the front movable distance of the target vehicle exceeds a second preset range or the back movable distance exceeds a third preset range, controlling the target vehicle to back or move forward.
The present embodiment can realize the inspection of the peripheral obstacles of the vehicle. Preferably, the intelligent path planning method provided by the embodiment can be installed on an upper computer, because the space in a mine roadway is limited, the translation distance, the translation direction, the forward movement and the backward movement of the vehicle in the roadway are all limited, the embodiment can detect obstacles around the vehicle according to the real-time position and the real-time direction by arranging an inspection module in the upper computer, or set the allowable forward movement distance and the allowable backward movement distance of the vehicle by using a detection module, if the allowable forward movement distance and the allowable backward movement distance of the vehicle exceed the preset range, an alarm is given, and the current position is adjusted in time through a differential model.
Optionally, the method further includes: and simulating and displaying the moving track of the target vehicle on a human-computer interaction terminal interface in real time. In this embodiment, a human-computer interaction interface is arranged on the upper computer, and the driving track of the vehicle is simulated and displayed on the human-computer interaction interface, for example, a top view of the current working surface can be presented. As shown in fig. 3, fig. 3 is a schematic diagram of a path moving track of a vehicle in a mine roadway according to an embodiment of the present invention. By the embodiment, the translation curve [ x, y ] two-bit array curve coordinate of the heading machine and the translation tracing angle of the heading machine can be processed in real time.
Preferably, the forward target position or the backward target position of the vehicle can be set through the human-computer interaction interface, and then a control signal is sent to the vehicle to control the vehicle to automatically move to the target position according to the designated position.
The following further illustrates embodiments of the invention in conjunction with a specific embodiment:
fig. 4 is a flowchart of path planning of vehicles in a mine roadway according to an embodiment of the present invention, and as shown in fig. 4, an intelligent path planning algorithm according to an embodiment of the present invention implements automatic traverse detection, specifically including the following steps;
step S401, a sensing unit (acquiring binocular vision information of inertial navigation);
step S402, a detection unit; detecting whether the vehicle needs to transversely move or not according to the obtained current position and the current position, and if not, continuously obtaining the real-time position and the real-time position of the vehicle; if the vehicle body needs to be transversely moved, executing step S403, calculating an offset and a direction angle to be moved based on historical track data, a current position and a current direction in the path planning model, sending a translation request signal (namely the control signal) to the vehicle through an execution unit, controlling the vehicle to move according to the offset and the direction, and receiving a feedback signal of a vehicle translation result;
step S404, whether a boundary early warning exists or not is judged; and detecting whether the vehicle body needs to move forward or backward in time according to the current position, the second preset range and the third preset range. If the range is within the preset range, the process returns to step S402, and if the range is beyond the preset range, the process returns to step S401.
Through the implementation steps, the path planning method for the vehicle in the mine roadway, provided by the embodiment of the invention, can realize the early warning of the collision of the vehicle from left to right to the side and the early warning of the collision of the vehicle going forward and backward; detecting a tunneling allowable advancing distance; detecting allowable backward moving distance of excavation, the direction of the heading machine to be translated and the distance of the heading machine to be translated; optimizing a visualization system; presenting a top view of the current working face through upper software modeling and UI (user interface) design, and then appointing the heading machine to automatically move to the current position through inputting coordinates by a user; simulating and optimizing the moving path of the heading machine through data fitting calculation; the moving process and the moving result are corrected through a preprocessed difference compensation database, so that the accuracy is improved, and the vehicle moving efficiency is improved; still set up the anticollision and detected, not only reduced personnel's accident, also reduced simultaneously because of the equipment collision that personnel maloperation arouses, reduced the maintenance cost.
Based on the same inventive concept, the method for planning the path of the vehicle in the mine roadway provided in the above embodiments further provides a device for planning the path of the vehicle in the mine roadway, which is used for implementing the above embodiments and preferred embodiments, and the description of the device is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 5 is a block diagram of a path planning apparatus for vehicles in mine roadways according to an embodiment of the present invention, as shown in fig. 5, the apparatus includes: the first acquisition module 50 is used for acquiring the current position of the target vehicle in the mine roadway and the current position of the target vehicle relative to the mine roadway; a first generating module 52, connected to the first obtaining module 50, for generating a planned path of the target vehicle by inputting the current position and the current orientation into a path planning model; and the control module 54 is connected to the first generation module 52 and is used for controlling the target vehicle to move in the mine roadway according to the planned path.
Optionally, the apparatus further comprises: the second acquisition module is used for acquiring historical track data of the target vehicle in a mine roadway before inputting the current position and the current position into the path planning model; wherein, the historical track data at least comprises: a movement path, a translation offset, a translation orientation; and the second generation module is used for training the deep learning model by using the historical track data to obtain a path planning model corresponding to the target vehicle.
Optionally, the first generating module 52 includes: the matching unit is used for matching the current position and the current position with historical track data in the path planning model so as to match a plurality of planned paths corresponding to the target vehicle; the screening unit is used for screening a planned path suitable for the target vehicle from the plurality of planned paths according to preset screening conditions; wherein, the preset screening condition comprises one of the following conditions: the translation time is shortest and the translation distance is shortest.
Optionally, the control module 54 includes: the system comprises a sending unit, a receiving unit and a processing unit, wherein the sending unit is used for generating a control signal to a target vehicle, and the control signal carries the translation offset of the target vehicle and the azimuth angle relative to a mine roadway; and the control unit is used for controlling the target vehicle to move according to the translation offset and the azimuth angle.
Optionally, the control module 54 includes: the receiving unit is used for receiving the real-time position and the corresponding real-time direction fed back by the target vehicle in real time; a comparison unit, configured to compare the real-time location and the real-time position with historical movement data in a preset database, respectively, where the historical movement data at least includes: a movement path specifying a forward distance and a backward distance within a range; a first execution unit configured to continue an operation of controlling movement of the target vehicle when a deviation between the real-time position and/or the real-time bearing and the historical movement data is within a first preset range; and when the deviation between the real-time position and/or the real-time direction and the historical movement data exceeds a first preset range, performing deviation compensation on the real-time position and/or the real-time direction by using a differential model, and controlling the movement of the target vehicle based on the real-time position and/or the real-time direction after the deviation compensation.
Optionally, the apparatus further comprises: the detection module is used for detecting the front-back movable distance of the target vehicle based on the real-time position and the position of the mine roadway after receiving the real-time position and the corresponding real-time position fed back by the target vehicle in real time; a second executing unit for controlling the target vehicle to advance or retreat when the forward movable distance of the target vehicle is within a second preset range or the backward movable distance is within a third preset range; and controlling the target vehicle to move backwards or forwards when the forward movable distance of the target vehicle exceeds a second preset range or the backward movable distance of the target vehicle exceeds a third preset range.
Optionally, the apparatus further comprises: and the display module is used for simulating and displaying the moving track of the target vehicle on the human-computer interaction terminal interface in real time.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Based on the same inventive concept, the method for planning the path of the vehicle in the mine roadway provided in the above embodiments further provides a storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps in any one of the above method embodiments when running.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, acquiring the current position of the target vehicle in the mine roadway and the current position of the target vehicle relative to the mine roadway;
s2, generating a planned path of the target vehicle by inputting the current position and the current orientation into a path planning model;
and S3, controlling the target vehicle to move in the mine roadway according to the planned path.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Based on the embodiment of the method shown in fig. 2 and the apparatus shown in fig. 5, in order to achieve the above object, an embodiment of the present invention further provides an electronic device, as shown in fig. 6, including a memory 62 and a processor 61, where the memory 62 and the processor 61 are both disposed on a bus 63, the memory 62 stores a computer program, and the processor 61 implements the method for planning the path of the vehicle in the mine roadway shown in fig. 2 when executing the computer program.
Based on such understanding, the technical solution of the present invention can be embodied in the form of a software product, which can be stored in a memory (which can be a CD-ROM, a usb disk, a removable hard disk, etc.), and includes several instructions for enabling an electronic device (which can be a personal computer, a server, or a network device, etc.) to execute the method according to the implementation scenarios of the present invention.
Optionally, the device may also be connected to a user interface, a network interface, a camera, Radio Frequency (RF) circuitry, sensors, audio circuitry, a WI-FI module, and so forth. The user interface may include a Display screen (Display), an input unit such as a keypad (Keyboard), etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (e.g., a bluetooth interface, WI-FI interface), etc.
It will be understood by those skilled in the art that the structure of an electronic device provided in the present embodiment does not constitute a limitation of the physical device, and may include more or less components, or some components in combination, or a different arrangement of components.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A path planning method for vehicles in a mine roadway is characterized by comprising the following steps:
acquiring the current position of a target vehicle in a mine tunnel and the current position of the target vehicle relative to the mine tunnel;
generating a planned path for the target vehicle by inputting the current position and the current orientation into a path planning model;
controlling the target vehicle to move in the mine roadway according to the planned path, and controlling the target vehicle to move in the mine roadway according to the planned path, including:
receiving the real-time position and the corresponding real-time direction fed back by the target vehicle in real time;
determining a deviation compensation result according to the deviation value of the real-time position and/or the real-time direction and historical movement data in a preset database and a first preset range, and controlling the target vehicle to move based on the deviation compensation result;
after receiving the real-time position and the corresponding real-time position fed back by the target vehicle in real time, the method further comprises:
detecting a forward-backward movable distance of the target vehicle based on the real-time position and the position of the mine roadway;
if the front movable distance of the target vehicle is within a second preset range or the back movable distance of the target vehicle is within a third preset range, controlling the target vehicle to move forwards or backwards; and if the front movable distance of the target vehicle exceeds the second preset range or the back movable distance exceeds the third preset range, controlling the target vehicle to back or move forward.
2. The method of claim 1, wherein prior to entering the current position and the current orientation into a path planning model, the method further comprises:
acquiring historical track data of the target vehicle in the mine roadway; wherein the historical track data comprises at least: a movement path, a translation offset, a translation orientation;
and training a deep learning model by using the historical track data to obtain a path planning model corresponding to the target vehicle.
3. The method of claim 1, wherein generating the planned path for the target vehicle by inputting the current location and the current position into a path planning model comprises:
matching the current position and the current position with historical track data in the path planning model to match a plurality of planned paths corresponding to the target vehicle;
screening a planned path suitable for the target vehicle from the plurality of planned paths according to a preset screening condition; wherein the preset screening condition comprises one of the following conditions: the translation time is shortest and the translation distance is shortest.
4. The method of claim 1, wherein said controlling the target vehicle to move within the mine roadway in accordance with the planned path comprises:
generating a control signal to the target vehicle, wherein the control signal carries a translation offset of the target vehicle and an azimuth angle relative to the mine roadway;
and controlling the target vehicle to move according to the translation offset and the azimuth angle.
5. The method of claim 1, wherein the historical movement data comprises at least: the method comprises the following steps of determining a deviation compensation result according to a deviation value of the real-time position and/or the real-time azimuth and historical movement data in a preset database and a first preset range, and controlling the target vehicle to move based on the deviation compensation result, wherein the movement path specifies a forward distance and a backward distance within a range, and comprises the following steps:
comparing the real-time position and the real-time orientation with historical movement data in the preset database respectively;
if the deviation between the real-time position and/or the real-time position and the historical movement data is within the first preset range, continuing to execute the operation of controlling the target vehicle to move; and if the deviation between the real-time position and/or the real-time position and the historical movement data exceeds the first preset range, performing deviation compensation on the real-time position and/or the real-time position by using a differential model, and controlling the target vehicle to move based on the real-time position and/or the real-time position after the deviation compensation.
6. The method according to any one of claims 1-5, further comprising:
and simulating and displaying the moving track of the target vehicle on a human-computer interaction terminal interface in real time.
7. A path planning device for vehicles in mine roadways is characterized by comprising:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the current position of a target vehicle in a mine roadway and the current position of the target vehicle relative to the mine roadway;
a first generation module for generating a planned path of the target vehicle by inputting the current position and the current orientation into a path planning model;
a control module, configured to control the target vehicle to move in the mine roadway according to the planned path, and control the target vehicle to move in the mine roadway according to the planned path, including: receiving the real-time position and the corresponding real-time direction fed back by the target vehicle in real time;
determining a deviation compensation result according to the deviation value of the real-time position and/or the real-time direction and historical movement data in a preset database and a first preset range, and controlling the target vehicle to move based on the deviation compensation result;
after receiving the real-time position and the corresponding real-time position fed back by the target vehicle in real time, the apparatus further comprises:
detecting a forward-backward movable distance of the target vehicle based on the real-time position and the position of the mine roadway;
if the front movable distance of the target vehicle is within a second preset range or the back movable distance of the target vehicle is within a third preset range, controlling the target vehicle to move forwards or backwards; and if the front movable distance of the target vehicle exceeds the second preset range or the back movable distance exceeds the third preset range, controlling the target vehicle to back or move forward.
8. An electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.
9. A storage medium having a computer program stored thereon, the computer program, when being executed by a processor, realizing the steps of the method of any one of claims 1 to 6.
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| CN114724407B (en) * | 2022-03-25 | 2023-05-30 | 中电达通数据技术股份有限公司 | Correct lane identifying method based on multiple data sources in road fitting |
| CN114879701A (en) * | 2022-06-23 | 2022-08-09 | 池州市安安新材科技有限公司 | Robot track obstacle avoidance method and system |
| CN117031365A (en) * | 2023-08-02 | 2023-11-10 | 迈胜医疗设备有限公司 | Magnetic field measuring device, control method thereof, electronic equipment and related device |
| CN117516550B (en) * | 2024-01-04 | 2024-03-15 | 三一重型装备有限公司 | Path planning method and system, and readable storage medium |
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