CN113655798A - Path planning method and system for multi-machine operation of road roller - Google Patents
Path planning method and system for multi-machine operation of road roller Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention provides a path planning method and a system for multi-machine operation of a road roller, wherein the method comprises the following steps: firstly, a left boundary path and a right boundary path are generated according to the center line information of the current construction area and the preset road width. Then, a plurality of intermediate paths parallel to the center line are generated from the left and right boundary paths, and the left and right boundary paths and the intermediate paths are extended. Then, according to the rolling direction of the road roller and the extended path, a lane changing path between adjacent paths and a lane changing path between the left boundary path and the right boundary path are planned. And finally, planning the running paths of the multiple road rollers according to the lane change path between the extended path and the left and right boundary paths. The planned driving path of the road roller meets the actual requirement of simultaneous operation of a plurality of road rollers, the operation route of the road roller can cover the whole road pressing area, and after the road pressing of the current operation area is finished, the road roller can enter the initial position of the next area to realize continuous operation, thereby realizing unmanned road pressing construction.
Description
Technical Field
The invention relates to the field of road construction, in particular to a linkage operation method and a linkage operation system for multi-machine engineering machinery such as a paver, a steel wheel road roller, a rubber wheel road roller and the like in the road construction process.
Background
The intelligent and unmanned construction method is a development trend of construction industry, and introduces the unmanned road roller into road compaction operation, so that all-weather construction efficiency and quality can be guaranteed, and production cost and potential safety hazards can be reduced. The path planning is one of key technologies of the unmanned road roller, and a reasonable road roller path is planned for the road roller.
The current path planning methods for some unmanned road rollers cannot ensure that the planned driving path of the road roller covers the whole road rolling area; the running path of the road roller planned by some methods can only cover the current road rolling area, and the next road rolling area cannot be automatically entered for continuous operation. Therefore, these methods require the constructor to often manually adjust the initial position of the roller, and cannot really realize continuous roller operation. Other path planning methods are only suitable for the construction scene of one unmanned road roller, and the actual road construction often has simultaneous operation of a plurality of road rollers.
In road construction, each road roller operation line must cover the current road roller area, and after the current operation area is completed, the next area needs to be entered for continuous operation, and the scene that a plurality of road rollers operate simultaneously needs to be met. Therefore, a reasonable path planning method needs to be designed for multi-machine continuous operation of the road roller, and the method can be really applied to road construction.
Disclosure of Invention
The embodiment of the invention provides a path planning method and system for multi-machine operation of a road roller, solves the problems that a conventional method does not support multi-machine operation and cannot perform continuous operation, and is beneficial to realizing unmanned road roller construction.
According to a first aspect of the embodiment of the invention, a path planning method for multi-machine operation of a road roller is provided, which comprises the following steps:
step 3, according to the rolling direction of the road roller and the extended path, planning a lane change path between adjacent paths and a lane change path between a left boundary path and a right boundary path;
and 4, planning the running paths of the multiple road rollers according to the lane change path between the extended path and the left and right boundary paths.
Preferably, in step 1, the generating of the left and right boundary paths according to the center line information of the current construction area and the preset road width specifically includes:
the system reads the centerline information for the current construction area, which consists of a series of discrete waypoints, each waypoint represented as (x)m,ym,θm,sm) M is 1,2,3, … …, M; wherein x and y represent longitude and latitude, theta represents the direction of a path point, s represents the length of the path point, M represents the serial number of the construction area center line path point, and M represents the total number of the current construction area center line path points; thus, the centerline path lcenterIs represented by (x)m,ym,θm,sm)，m＝1,2,3,……,M；
According to the center line information of the current construction area and the preset road width D, calculating the path points of the left and right boundaries as follows: left boundary path lleftIs represented by (xL)m,yLm) M is 1,2,3, … …, M; right sideBoundary path lrightIs represented by (xR)m,yRm) M is 1,2,3, … …, M; wherein, xL and yL are longitude and latitude of the left boundary path point; xR, yR are the longitude and latitude of the right border waypoint; the xL, yL, xR and yR respectively satisfy the following formulas:
wherein A is the width of the road roller.
Preferably, in step 2, according to the left and right boundary paths, a plurality of intermediate paths parallel to the center line are generated, which specifically includes:
setting the number N of middle paths according to the width of a road and the width of a road roller, wherein N is the minimum positive integer not less than (D-A)/kA-1; wherein, A is the width of the road roller, k is a parameter set by a user, and k is 2/3 as default;
generating N middle paths parallel to the central line according to the left and right boundary paths; nth intermediate path lnThe path point of (N ═ 1,2,3, … …, N) is represented by (xCnm,yCnm) M is 1,2,3, … …, M; wherein, xCnmAnd yCnmRespectively representing the longitude and latitude of the mth waypoint of the nth intermediate path; xCnmAnd yCnmAll satisfy the following formula:
preferably, in step 2, extending the left and right boundary paths and the middle path specifically includes:
according to the trend of the left and right boundary paths, the left and right boundary paths are extended backwards to obtain the backward extended path lr of the left and right boundary paths0And lrN+1The length of the backward extending path of the left and right boundary paths is d1＝VB+(V-1)B0If d is1<d0Get d1＝d0(ii) a Wherein V is the number of road rollers participating in construction, B is the length of the road rollers, and B is the number of road rollers participating in construction0Is front and back 2Safe distance between platform rollers, d0Is the lane change length; according to the trend of the middle path, the middle path is extended backwards to obtain a path lr extending backwards from the middle path1、lr2、……、lrNThe length of the backward extending path of the intermediate path is d2If d is not equal to B2<d0Get d2＝d0；
According to the rolling direction of the road roller, a left boundary path, a right boundary path and a middle path are extended forwards, and the forward extension paths are respectively lf0、lf1、lf2、……、lfN、lfN+1(ii) a If the rolling direction is from left to right, the extending length of the forward extending path is 0, E, 2E, … …, NE and (N +1) E in sequence; if the rolling direction is from right to left, the extending length of the forward extending path is (N +1) E, NE, … …, 2E, E and 0 in sequence; wherein, E is a forward extension distance parameter set by a user, and the default value is 0.5 m.
Preferably, in step 3, a lane change path between adjacent paths is planned according to the rolling direction of the road roller and the extended path, and the method specifically includes:
if the rolling direction of the road roller is from left to right, a smooth curve S is set in sequencetConnection path lrtAnd a path lrt+1T is 0,1,2, … …, N; wherein S istIs the path lrtUpper distance extension starting point d0Path point of (S)tEnd point of (1) is a path lrt+1An extended start path point of;
if the rolling direction of the road roller is from right to left, a smooth curve S is set in sequencetConnection path lrt+1And a path lrtN, N-1, … …,2,1, 0; wherein S istIs the path lrt+1Upper distance extension starting point d0Path point of (S)tEnd point of (1) is a path lrtUpper extension start path point.
Preferably, in step 3, a lane change path between the left and right boundary paths is planned according to the rolling direction of the road roller and the extended path, and the method specifically includes:
if rollingThe direction is from left to right, a smooth curve L is set1Connecting the right boundary path lrightAnd left boundary path lleft. Wherein L is1Starting point of (1) is the right boundary path lrightStarting point of (1), L1End point of (1) is left boundary pathleftThe end point of (1); if the rolling direction is from right to left, a smooth curve L is set2Connecting the left boundary path lleftAnd the right boundary path lright(ii) a Wherein L is2Is the left boundary path lleftStarting point of (1), L2End point of (d) is a right boundary path lrightThe end point of (1).
Preferably, in step 4, the planning of the driving paths of the multiple road rollers according to the lane change path between the extended path and the left and right boundary paths specifically includes:
planning the running paths of a plurality of road rollers according to the lane changing path between the extended path and the left and right boundary paths, so that each road roller returns to the initial position after finishing one-time road rolling operation on the left and right boundary paths and each middle path from the initial position; and if the road rollers finish the road rolling operation of the current construction area, continuing to plan the running paths of the road rollers so as to enable the road rollers to run to the initial position of the next operation area.
According to a second aspect of the embodiment of the present invention, there is also provided a path planning system for multi-machine operation of a road roller, including:
the route generation module is used for generating a left boundary route and a right boundary route according to the center line information of the current construction area and the preset road width;
the path extension module is used for generating a plurality of middle paths parallel to the central line according to the left and right boundary paths and extending the left and right boundary paths and the middle paths;
the lane change planning module is used for planning a lane change path between adjacent paths and a lane change path between a left boundary path and a right boundary path according to the rolling direction of the road roller and the extended path;
and the path planning module is used for planning the driving paths of the multiple road rollers according to the extended path and the lane changing path between the left boundary path and the right boundary path.
According to a third aspect of embodiments of the present invention, there is provided an electronic device including a processor, a memory, a communication interface, and a bus; the processor, the memory and the communication interface complete mutual communication through the bus; the storage stores program instructions executable by the processor, and the processor calls the program instructions to be able to execute the path planning method for multi-machine operation of the road roller provided by the embodiment of the first aspect.
According to a fourth aspect of embodiments of the present invention, there is provided a non-transitory computer-readable storage medium storing a computer program which, when executed by a processor, is implemented to perform the method for path planning for multi-machine working of a road roller according to the first aspect.
According to the path planning method and system for multi-machine operation of the road roller, the planned driving path of the road roller meets the actual requirement of simultaneous operation of a plurality of road rollers, the operation route of the road roller can cover the whole road roller area, and after the road roller in the current operation area is completed, the road roller can enter the initial position of the next area to realize continuous operation, so that unmanned road roller construction is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a path planning method for multi-machine operation of a road roller according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of generating left and right boundary paths according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an intermediate path generation provided by an embodiment of the present invention;
FIG. 4(a) is a schematic diagram illustrating the rolling direction extending from left to right and from front to back;
FIG. 4(b) is a schematic diagram illustrating the rolling direction extending from right to left and from front to back according to an embodiment of the present invention;
fig. 5(a) is a schematic diagram of a lane-changing path generation between adjacent paths when the rolling direction of the road roller is from left to right according to the embodiment of the present invention;
fig. 5(b) is a schematic diagram of a lane-changing path between adjacent paths when the rolling direction of the road roller is from right to left according to the embodiment of the present invention;
fig. 6 is a schematic diagram of a lane change path between left and right boundary paths when the rolling direction of the road roller provided by the embodiment of the invention is from left to right;
fig. 7 is a schematic diagram of a lane change path between left and right boundary paths when the rolling direction of the road roller is from right to left according to the embodiment of the present invention;
fig. 8 is a block diagram of a path planning system for multi-machine operation of a road roller according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, the existing road roller path planning method can not ensure that the planned driving path of the road roller covers the whole road roller area; the existing road roller path planning schemes mainly comprise the following two types, and the road roller paths planned by the road roller path planning methods of one type can only cover the current construction area and cannot automatically enter the next road roller area to continue operation, so that the methods need a constructor to often manually adjust the initial position of the road roller, and cannot really realize continuous road roller operation. The other road roller path planning method is only suitable for a scene of construction of one unmanned road roller, and the actual road construction often has simultaneous operation of a plurality of road rollers.
Aiming at the problems in the prior art, the embodiment of the invention provides a path planning method for multi-machine operation of a road roller, solves the problems that a conventional method does not support multi-machine operation and cannot continuously operate, and realizes unmanned road roller construction. The following description and description of various embodiments are presented in conjunction with the following drawings.
Fig. 1 is a schematic flow chart of a path planning method for multi-machine operation of a road roller according to an embodiment of the present invention, and as shown in fig. 1, the path planning method for multi-machine operation of a road roller according to the embodiment of the present invention includes, but is not limited to, the following steps:
Fig. 2 is a schematic diagram of generating left and right boundary paths according to an embodiment of the present invention, and referring to fig. 2, as a possible implementation manner, in this embodiment, a system reads center line information of a current construction area, where a center line of the current construction area is composed of a series of discrete path points, and each path point is represented as (x)m,ym,θm,sm) M is 1,2,3, … …, M; wherein x and y represent longitude and latitude, theta represents the direction of a path point, s represents the length of the path point, M represents the serial number of the construction area center line path point, and M represents the total number of the current construction area center line path points; thus, the centerline path lcenterIs represented by (x)m,ym,θm,sm)，m＝1,2,3,……,M；
According to the center line information of the current construction area and the preset road width D, calculating the path points of the left and right boundaries as follows: left boundary path lleftIs represented by (xL)m,yLm) M is 1,2,3, … …, M; right boundary path lrightIs represented by (xR)m,yRm) M is 1,2,3, … …, M; wherein, xL and yL are longitude and latitude of the left boundary path point; the sum of the values of xR and xR,yR is the longitude and latitude of the right boundary path point; the xL, yL, xR and yR respectively satisfy the following formulas:
wherein A is the width of the road roller.
And 2, generating a plurality of middle paths parallel to the central line according to the left and right boundary paths, and extending the left and right boundary paths and the middle paths.
Fig. 3 is a schematic diagram of generating an intermediate path according to an embodiment of the present invention, and referring to fig. 3, in this embodiment, first, the number N of the intermediate paths is set according to a road width and a road roller width, where N is a minimum positive integer not less than (D-a)/kA-1; wherein, A is the width of the road roller, k is a parameter set by a user, and k is 2/3 as default;
generating N middle paths parallel to the central line according to the left and right boundary paths; wherein the nth intermediate path lnA path point of (N ═ 1,2,3, … …, N) denotes (xC)nm,yCnm) M is 1,2,3, … …, M; wherein, xCnmAnd yCnmRespectively representing the longitude and latitude of the mth waypoint of the nth intermediate path; xCnmAnd yCnmAll satisfy the following formula:
and then, according to the actual construction requirement of the road roller, considering the length, the safety distance and the path trend of the road roller, and extending the left and right boundary paths and the middle path. Fig. 4(a) is a schematic diagram of a rolling direction extending forwards and backwards from left to right according to an embodiment of the present invention, and fig. 4(b) is a schematic diagram of a rolling direction extending forwards and backwards from right to left according to an embodiment of the present invention. Referring to fig. 4(a) and 4(b), the left and right boundary paths are extended backward according to the behavior of the left and right boundary paths, and a path lr in which the left and right boundary paths are extended backward is obtained0And lrN+1Left and right boundary path radial backward extensionThe length of the extension path is d1＝VB+(V-1)B0If d is1<d0Get d1＝d0(ii) a Wherein V is the number of road rollers participating in construction, B is the length of the road rollers, and B is the number of road rollers participating in construction0Is a safety distance between the front and rear 2 road rollers, d0Is the lane change length; according to the trend of the middle path, the middle path is extended backwards to obtain a path lr extending backwards from the middle path1、lr2、……、lrNThe length of the backward extending path of the intermediate path is d2If d is not equal to B2<d0Get d2＝d0. According to the rolling direction of the road roller, a left boundary path, a right boundary path and a middle path are extended forwards, and the forward extension paths are respectively lf0、lf1、lf2、……、lfN、lfN+1. Referring to fig. 4(a), the extending length of the forward extending path is 0, E, 2E, … …, NE, (N +1) E in order from left to right in the rolling direction. If the rolling direction is from right to left, referring to fig. 4(b), the extending lengths of the forward extending paths are (N +1) E, NE, … …, 2E, E and 0 in sequence; wherein, E is a forward extension distance parameter set by a user, and the default value is 0.5 m.
And 3, planning a lane change path between adjacent paths and a lane change path between the left boundary path and the right boundary path according to the rolling direction of the road roller and the extended path.
As a possible implementation manner, in step 3, according to the rolling direction of the road roller and the extended path, a lane change path between adjacent paths is planned, which specifically includes:
fig. 5(a) is a schematic diagram of a lane change path generation between adjacent paths when the rolling direction of the road roller is from left to right according to the embodiment of the present invention, and referring to fig. 5(a), if the rolling direction of the road roller is from left to right, smooth curves S are sequentially settConnection path lrtAnd a path lrt+1T is 0,1,2, … …, N; wherein S istIs the path lrtUpper distance extension starting point d0Path point of (S)tEnd point of (1) is a path lrt+1Upper extension start path point.
Fig. 5(b) is a schematic diagram of generating a lane-changing path between adjacent paths when the rolling direction of the road roller is from right to left according to the embodiment of the present invention, and referring to fig. 5(b), if the rolling direction of the road roller is from right to left, a smooth curve S is sequentially settConnection path lrt+1And a path lrtN, N-1, … …,2,1, 0; wherein S istIs the path lrt+1Upper distance extension starting point d0Path point of (S)tEnd point of (1) is a path lrtUpper extension start path point.
As a possible implementation manner, in step 3, a lane change path between the left and right boundary paths is planned according to the rolling direction of the road roller and the extended path, which specifically includes:
fig. 6 is a schematic diagram of a lane change path between left and right boundary paths when the rolling direction of the road roller is from left to right according to the embodiment of the present invention, and referring to fig. 6, if the rolling direction is from left to right, a smooth curve L is set1Connecting the right boundary path lrightAnd left boundary path lleft(ii) a Wherein L is1Starting point of (1) is the right boundary path lrightStarting point of (1), L1End point of (1) is left boundary pathleftThe end point of (1).
Fig. 7 is a schematic diagram of a lane change path between left and right boundary paths when the rolling direction of the road roller is from right to left according to the embodiment of the present invention, and referring to fig. 7, if the rolling direction is from right to left, a smooth curve L is set2Connecting the left boundary path lleftAnd the right boundary path lright(ii) a Wherein L is2Is the left boundary path lleftStarting point of (1), L2End point of (d) is a right boundary path lrightThe end point of (1).
And 4, planning the running paths of the multiple road rollers according to the lane change path between the extended path and the left and right boundary paths.
In the embodiment, the running paths of a plurality of road rollers are planned according to the extended path, the left and right boundary paths and the lane change path among the paths, so that the road rollers return to the initial positions after completing one-time road rolling operation on the left and right boundary paths and each middle path from the initial positions; and if the road rollers finish the road rolling operation of the current construction area, continuing to plan the running paths of the road rollers so as to enable the road rollers to run to the initial position of the next operation area.
Referring to fig. 6, if the rolling direction is from left to right, the road roller starts from the initial position, and returns to the initial position after completing one road rolling operation, the planned driving path of the road roller sequentially includes: lr of0、lleft、lf0、lf0 -、lleft -、lr0 -、S0、l1、lf1、lf1 -、l1 -、lr1 -、S1、l2、lf2、lf2 -、l2 -、lr2 -、S2、……、SN、lright、lfN+1、lfN+1 -、lright -、lrN+1 -、lrN+1、L1、lleft -、lr0 -. If the road roller operation is required to be carried out for multiple times, repeating the planned driving path driving of the road roller; if the road rolling operation of the current area is finished, continuing to plan the path lr0、lleftAnd the vehicle travels to the initial position of the next working interval.
Referring to fig. 7, if the rolling direction is from right to left, the roller starts from the initial position, and returns to the initial position after completing one-pass rolling operation, the planned driving path of the roller sequentially includes: lr ofN+1、lright、lfN+1、lfN+1 -、lright -、lrN+1 -、SN、lN、lfN、lfN -、lN -、lrN -、SN-1、lN-1、lfN-1、lfN-1 -、lN-1 -、lrN-1 -、SN-2、……、S0、lleft、lf0、lf0 -、lleft -、lr0 -、lr0、L2、lright -、lrN+1 -. And if the road roller operation is required to be carried out for multiple times, repeating the planned driving path driving of the road roller. If the road rolling operation of the current area is finished, continuing to plan the path lrN+1、lrightAnd the vehicle travels to the initial position of the next working interval.
According to the path planning method for multi-machine operation of the road roller, provided by the embodiment of the invention, the planned driving path of the road roller meets the actual requirement of simultaneous operation of a plurality of road rollers, the operation route of the road roller can cover the whole road roller area, and after the road roller in the current operation area is completed, the road roller can enter the initial position of the next area to realize continuous operation, so that unmanned road roller construction is realized.
In an embodiment, fig. 8 is a block diagram of a structure of a path planning method for multi-machine operation of a road roller according to an embodiment of the present invention, and referring to fig. 8, an embodiment of the present invention further provides a path planning system for multi-machine operation of a road roller, including:
a path generating module 801, configured to generate left and right boundary paths according to the center line information of the current construction area and a preset road width;
a path extension module 802, configured to generate a plurality of intermediate paths parallel to the center line according to the left and right boundary paths, and extend the left and right boundary paths and the intermediate paths;
a lane change planning module 803, configured to plan a lane change path between adjacent paths and a lane change path between left and right boundary paths according to the rolling direction of the road roller and the extended path;
and the path planning module 804 is used for planning the driving paths of the multiple road rollers according to the extended path and the lane change path between the left boundary path and the right boundary path.
It can be understood that the path planning system for multi-machine operation of a road roller provided by the present invention corresponds to the path planning method for multi-machine operation of a road roller provided in the foregoing embodiments, and specifically, how to plan the path of multi-machine operation of a road roller by using the system may refer to the related technical features of the path planning method for multi-machine operation of a road roller in the foregoing embodiments, and this embodiment is not described herein again.
In an embodiment, an embodiment of the present invention provides an electronic device, and as shown in fig. 9, the electronic device may include: a processor (processor)901, a communication Interface (Communications Interface)902, a memory (memory)903 and a communication bus 904, wherein the processor 901, the communication Interface 902 and the memory 903 are communicated with each other through the communication bus 904. The processor 901 may call logic instructions in the memory 903 to execute the steps of the path planning method for multi-machine operation of the road roller provided in the foregoing embodiments, for example, including: step 1, generating a left boundary path and a right boundary path according to the center line information of the current construction area and the preset road width; step 2, generating a plurality of middle paths parallel to the central line according to the left and right boundary paths, and extending the left and right boundary paths and the middle paths; step 3, according to the rolling direction of the road roller and the extended path, planning a lane change path between adjacent paths and a lane change path between a left boundary path and a right boundary path; and 4, planning the running paths of the multiple road rollers according to the lane change path between the extended path and the left and right boundary paths.
In an embodiment, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented by a processor to perform the steps of the method for path planning for multi-machine operation of a road roller provided in the foregoing embodiments, for example, the method includes: step 1, generating a left boundary path and a right boundary path according to the center line information of the current construction area and the preset road width; step 2, generating a plurality of middle paths parallel to the central line according to the left and right boundary paths, and extending the left and right boundary paths and the middle paths; step 3, according to the rolling direction of the road roller and the extended path, planning a lane change path between adjacent paths and a lane change path between a left boundary path and a right boundary path; and 4, planning the running paths of the multiple road rollers according to the lane change path between the extended path and the left and right boundary paths.
In summary, the embodiments of the present invention provide a method and a system for planning a path of multi-machine operation of a road roller, where a planned driving path of a road roller meets an actual requirement of simultaneous operation of multiple road rollers, so that an operation route of the road roller covers the entire road roller area, and after completing road rolling in the current operation area, the road roller can enter the initial position of the next area to implement continuous operation, thereby implementing unmanned road roller construction.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (methods), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A path planning method for multi-machine operation of a road roller is characterized by comprising the following steps:
step 1, generating a left boundary path and a right boundary path according to the center line information of the current construction area and the preset road width;
step 2, generating a plurality of middle paths parallel to the central line according to the left and right boundary paths, and extending the left and right boundary paths and the middle paths;
step 3, according to the rolling direction of the road roller and the extended path, planning a lane change path between adjacent paths and a lane change path between a left boundary path and a right boundary path;
and 4, planning the running paths of the multiple road rollers according to the lane change path between the extended path and the left and right boundary paths.
2. The path planning method for multi-machine operation of a road roller according to claim 1, wherein in the step 1, a left boundary path and a right boundary path are generated according to the center line information of the current construction area and the preset road width, and the method specifically comprises the following steps:
the system reads the centerline information for the current construction area, which consists of a series of discrete waypoints, each waypoint represented as (x)m,ym,θm,sm) M is 1,2,3, … …, M; wherein x and y represent longitude and latitude, theta represents the direction of a path point, s represents the length of the path point, M represents the serial number of the construction area center line path point, and M represents the total number of the current construction area center line path points; thus, the centerline path lcenterIs represented by (x)m,ym,θm,sm)，m＝1,2,3,……,M；
According to the center line information of the current construction area and the preset road width D, calculating the path points of the left and right boundaries as follows: left boundary path lleftIs represented by (xL)m,yLm) M is 1,2,3, … …, M; right boundary path lrightIs represented by (xR)m,yRm) M is 1,2,3, … …, M; wherein, xL and yL are longitude and latitude of the left boundary path point; xR, yR are the longitude and latitude of the right border waypoint; the xL, yL, xR and yR respectively satisfy the following formulas:
wherein A is the width of the road roller.
3. The path planning method for multi-machine operation of road rollers according to claim 1, wherein in the step 2, a plurality of intermediate paths parallel to the center line are generated according to the left and right boundary paths, and the method specifically comprises the following steps:
setting the number N of middle paths according to the width of a road and the width of a road roller, wherein N is the minimum positive integer not less than (D-A)/kA-1; wherein, A is the width of the road roller, k is a parameter set by a user, and k is 2/3 as default;
generating N middle paths parallel to the central line according to the left and right boundary paths, wherein the nth middle path lnThe path point of (N ═ 1,2,3, … …, N) is represented by (xCnm,yCnm) M is 1,2,3, … …, M; wherein, xCnmAnd yCnmRespectively representing the longitude and latitude of the mth waypoint of the nth intermediate path; xCnmAnd yCnmAll satisfy the following formula:
4. the path planning method for multi-machine operation of road rollers according to claim 2, wherein in the step 2, extending the left and right boundary paths and the middle path specifically comprises:
according to the trend of the left and right boundary paths, the left and right boundary paths are extended backwards to obtain the backward extended path lr of the left and right boundary paths0And lrN+1The length of the backward extending path of the left and right boundary paths is d1＝VB+(V-1)B0If d is1<d0Get d1＝d0(ii) a Wherein V is the number of road rollers participating in construction, B is the length of the road rollers, and B is the number of road rollers participating in construction0Is a safety distance between the front and rear 2 road rollers, d0Is the lane change length; according to the trend of the middle path, the middle path is extended backwards to obtain a path lr extending backwards from the middle path1、lr2、……、lrNThe length of the backward extending path of the intermediate path is d2If d is not equal to B2<d0Get d2＝d0；
According to the rolling direction of the road roller, a left boundary path, a right boundary path and a middle path are extended forwards, and the forward extension paths are respectively lf0、lf1、lf2、……、lfN、lfN+1(ii) a If the rolling direction is from left to right, the extending length of the forward extending path is 0, E, 2E, … …, NE and (N +1) E in sequence; if the rolling direction is from right to left, the extending length of the forward extending path is (N +1) E, NE, … …, 2E, E and 0 in sequence; wherein, E is a forward extension distance parameter set by a user, and the default value is 0.5 m.
5. The method for planning the path of multi-machine operation of the road roller according to claim 4, wherein in the step 3, the lane change path between the adjacent paths is planned according to the rolling direction of the road roller and the extended path, and the method specifically comprises the following steps:
if the rolling direction of the road roller is from left to right, a smooth curve S is set in sequencetConnection path lrtAnd a path lrt+1T is 0,1,2, … …, N; wherein S istIs the path lrtUpper distance extension starting point d0Path point of (S)tEnd point of (1) is a path lrt+1An extended start path point of;
if the rolling direction of the road roller is from right to left, a smooth curve S is set in sequencetConnection path lrt+1And a path lrtN, N-1, … …,2,1, 0; wherein S istIs the path lrt+1Upper distance extension starting point d0Path point of (S)tEnd point of (1) is a path lrtUpper extension start path point.
6. The path planning method for multi-machine operation of a road roller according to claim 5, wherein in the step 3, a lane change path between the left boundary path and the right boundary path is planned according to the rolling direction of the road roller and the extended path, and specifically comprises the following steps:
if the rolling direction is from left to right, a smooth curve L is set1Connecting the right boundary path lrightAnd left boundary path lleft(ii) a Wherein L is1Starting point of (1) is the right boundary path lrightStarting point of (1), L1End point of (1) is left boundary pathleftThe end point of (1); if the rolling direction is from right to rightOn the left, a smooth curve L is set2Connecting the left boundary path lleftAnd the right boundary path lright(ii) a Wherein L is2Is the left boundary path lleftStarting point of (1), L2End point of (d) is a right boundary path lrightThe end point of (1).
7. The path planning method for multi-machine operation of road rollers according to claim 5, wherein in the step 4, the planning of the driving paths of the plurality of road rollers according to the lane change path between the extended path and the left and right boundary paths specifically comprises:
planning the running paths of a plurality of road rollers according to the lane changing path between the extended path and the left and right boundary paths, so that each road roller returns to the initial position after finishing one-time road rolling operation on the left and right boundary paths and each middle path from the initial position; and if the road rollers finish the road rolling operation of the current construction area, continuing to plan the running paths of the road rollers so as to enable the road rollers to run to the initial position of the next operation area.
8. A path planning system for multi-machine operation of a road roller is characterized by comprising:
the route generation module is used for generating a left boundary route and a right boundary route according to the center line information of the current construction area and the preset road width;
the path extension module is used for generating a plurality of middle paths parallel to the central line according to the left and right boundary paths and extending the left and right boundary paths and the middle paths;
the lane change planning module is used for planning a lane change path between adjacent paths and a lane change path between a left boundary path and a right boundary path according to the rolling direction of the road roller and the extended path;
and the path planning module is used for planning the driving paths of the multiple road rollers according to the extended path and the lane changing path between the left boundary path and the right boundary path.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the path planning method for multi-machine operation of a road roller according to any of claims 1 to 7.
10. A non-transitory computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of a method for path planning for multi-machine operation of a road roller according to any of claims 1 to 7.
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