CN114511579B - Method and device for sharing collaborative data of multiple mine cars - Google Patents
Method and device for sharing collaborative data of multiple mine cars Download PDFInfo
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- CN114511579B CN114511579B CN202210091705.3A CN202210091705A CN114511579B CN 114511579 B CN114511579 B CN 114511579B CN 202210091705 A CN202210091705 A CN 202210091705A CN 114511579 B CN114511579 B CN 114511579B
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- 230000001174 ascending effect Effects 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 6
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
Abstract
The invention is suitable for the technical field of collaborative operation, and provides a method and a device for sharing collaborative data of a plurality of mine cars, wherein the method comprises the following steps: receiving mine car operation area information, wherein the mine car operation area information comprises an operation total area plan; dividing the working total area plan into a plurality of working subarea plan, and transmitting the working subarea plan to a corresponding mine car terminal; recording the mine car running path in real time, and calculating according to the mine car running path to obtain actual working area information; obtaining the actual working efficiency of the mine car according to the actual working area information and the mine car running time; and dividing the plan view of the total area of the residual operation again according to the actual working efficiency. The invention can enable the mine car driver to operate according to the plan view of the operation subarea, and has better operation division effect; in addition, the invention can adjust the plan view of the rest operation subareas according to the actual working efficiency, so that all mine car drivers can synchronously finish the operation.
Description
Technical Field
The invention relates to the technical field of collaborative operation, in particular to a method and a device for sharing collaborative data of multiple mine cars.
Background
In mining work, when work load is great, in order to improve work efficiency, often need adopt many mine cars to carry out work to reduce the completion time of whole work, however in prior art, lack effective communication between many mine cars, cause each mine car to be the situation of war respectively, can not fine carry out collaborative operation, be difficult to the completion time of the reduction overall work to the maximum extent. Therefore, a method and a device for sharing collaborative data of multiple mine cars are needed to solve the above problems.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a multi-mine car collaborative data sharing method and device so as to solve the problems existing in the background art.
The invention is realized in such a way that the method for sharing the collaborative data of the multi-mine car comprises the following steps:
receiving mine car operation area information, wherein the mine car operation area information comprises an operation total area plan;
dividing the plan of the total operation area into a plurality of plan of the sub-operation areas according to the number of mine cars and the set working efficiency of the mine cars, and sending the plan of the sub-operation areas to the corresponding mine car terminals so that a mine car driver can operate according to the plan of the sub-operation areas;
recording the mine car running path in real time, transmitting the mine car running path and the mine car running time to a cloud platform through a mine car terminal, and calculating according to the mine car running path every other preset time to obtain actual working area information; obtaining the actual working efficiency of the mine car according to the actual working area information and the mine car running time;
and dividing the plan view of the total area of the residual operation into a plurality of plan views of the subareas of the residual operation according to the actual working efficiency, and transmitting the plan views of the subareas of the residual operation to corresponding mine car terminals so that the mine car drivers can synchronously finish the operation, wherein the plan view of the total area of the residual operation is obtained by subtracting the actual working area information from the plan view of the total area of the operation.
As a further scheme of the invention: the method comprises the steps of dividing a working total area plan into a plurality of working subarea plan according to the number of mine cars and the working efficiency of mine car setting, and specifically comprises the following steps:
calculating to obtain the total area of the plan view of the total area of the operation;
obtaining a plurality of subarea areas according to the total area, the number of mine cars and the set working efficiency of the mine cars, wherein the number of the subarea areas is the same as the number of the mine cars;
determining the gravity center of a plan view of the total area of the operation;
a first line segment is led out from the gravity center to a set direction, one end of the first line segment is the gravity center, and the other end of the first line segment is intersected with the outline of the plan view of the working total area;
the second line segment is led out from the center of gravity, and the area of a closed area formed by the first line segment, the second line segment and the outline of the plan view of the working total area is one of the subareas;
the N line segment is led out from the center of gravity, the area of a closed area formed by the N-1 line segment, the N line segment and the outline of the working total area plan is one of the subarea areas, the total number N of the line segments led out from the center of gravity is equal to the number of mine cars, and the working total area plan is divided into a plurality of working subarea plan by a plurality of led-out line segments.
As a further scheme of the invention: the step of leading out a second line segment from the center of gravity, wherein the area of a closed area formed by the first line segment, the second line segment and the outline of the working total area plan view is one of the subareas, and specifically comprises the following steps:
the areas of a plurality of sub-areas are arranged in ascending order to obtain: a first sub-region area, a second sub-region area, … …, an nth sub-region area;
leading out a first prejudging ray from the gravity center, wherein the included angle between the first prejudging ray and the first line segment is a preset differential angle;
calculating the area of a closed area formed by the first line segment, the first pre-judging ray and the outline of the operation total area plan, judging whether the area of the closed area is equal to the area of the first subarea, rotating the first pre-judging ray by a preset differential angle according to a preset steering direction when the area of the closed area is unequal, and calculating the area of the closed area formed by the first line segment, the first pre-judging ray and the outline of the operation total area plan again until the area of the closed area is equal to the area of the first subarea, wherein the first pre-judging ray does not rotate any more;
the segment from the center of gravity of the first prejudged ray to the outline of the plan view of the working total area is marked as a second segment.
As a further scheme of the invention: the step of determining whether the area of the closed area is equal to the area of the first sub-area specifically includes:
subtracting the set value from the area of the closed area to obtain the minimum value of the area of the closed area;
adding a set value to the area of the closed area to obtain the maximum value of the area of the closed area;
determining whether the first subarea area is in the interval of [ closed area minimum value, closed area maximum value ], and determining that the closed area is equal to the first subarea area when the first subarea area is in the interval; when not in the interval, it is determined that the closed region area is not equal to the first sub-region area.
As a further scheme of the invention: the step of calculating the actual working area information according to the traveling path of the mine car at intervals of a preset time specifically comprises the following steps:
acquiring a working width value of each mine car;
thickening the mine car running path according to the working width value to form a mine car running path diagram;
and obtaining the information of the actual working area according to the mine car running path diagram and the working subarea plan.
As a further scheme of the invention: the step of obtaining the information of the actual working area according to the mine car running path diagram and the working subarea plan diagram specifically comprises the following steps:
the positions of the working subarea plan view and the mine car running path view are overlapped;
and calculating the area of the overlapping part of the mine car running path diagram and the corresponding operation subarea plan diagram, and obtaining the actual working area information.
Another object of the present invention is to provide a multi-mine car collaborative data sharing apparatus, the apparatus comprising:
the mining car operation area information comprises an operation total area plan;
the total area dividing module is used for dividing the operation total area plan according to the number of mine cars and the set working efficiency of the mine cars, dividing the operation total area plan into a plurality of operation subarea plan, and sending the operation subarea plan to the corresponding mine car terminal so that a mine car driver can operate according to the operation subarea plan;
the actual work efficiency determining module is used for recording the mine car running path in real time, sending the mine car running path and the mine car running time to the cloud platform through the mine car terminal, and calculating according to the mine car running path every other preset time to obtain actual work area information; obtaining the actual working efficiency of the mine car according to the actual working area information and the mine car running time; and
the region re-segmentation module is used for re-segmenting the total region plan of the residual operation according to the actual working efficiency, segmenting the total region plan of the residual operation into a plurality of residual operation sub-region plan, and sending the residual operation sub-region plan to the corresponding mine car terminal so that the mine car driver can synchronously complete the operation.
As a further scheme of the invention: the total region segmentation module comprises:
the total area calculation sub-module is used for calculating the total area of the operation total area plan;
the subarea area determining submodule is used for obtaining a plurality of subarea areas according to the total area, the number of mine cars and the set working efficiency of the mine cars, and the number of the subarea areas is the same as the number of the mine cars;
the center of gravity determining submodule is used for determining the center of gravity of the plan view of the total area of the operation;
the first line segment determining submodule is used for leading out a first line segment from the gravity center to the set direction, one end of the first line segment is the gravity center, and the other end of the first line segment is intersected with the outline of the plan view of the working total area;
the second line segment determining submodule is used for leading out the second line segment from the center of gravity, and the area of a closed area formed by the first line segment, the second line segment and the outline of the working total area plan is one of the subarea areas; and
the N line segment determining submodule is characterized in that an N line segment is led out from the center of gravity, the area of a closed area formed by the N-1 line segment, the N line segment and the outline of the working total area plan is one of the subarea areas, the total number of the line segments led out from the center of gravity is equal to the number of mine cars, and the working total area plan is divided into a plurality of working subarea plan by a plurality of led-out line segments.
As a further scheme of the invention: the second line segment determining submodule includes:
the ascending arrangement unit is used for ascending arrangement of the areas of the plurality of sub-areas to obtain: a first sub-region area, a second sub-region area, … …, an nth sub-region area;
the first prejudgment ray is led out from the gravity center, and the included angle between the first prejudgment ray and the first line section is a preset differential angle;
the pre-judging ray determining unit is used for calculating the area of a closed area formed by the first line segment, the first pre-judging ray and the outline of the operation total area plan, judging whether the area of the closed area is equal to the area of the first subarea, rotating the first pre-judging ray by a preset differential angle according to a preset rotation direction when the area of the closed area is not equal to the area of the first subarea, and calculating the area of the closed area formed by the first line segment, the first pre-judging ray and the outline of the operation total area plan again until the area of the closed area is equal to the area of the first subarea; and
and the second line segment determining unit is used for marking the section from the center of gravity to the outline of the plan view of the working total area in the first prejudging line as a second line segment.
As a further scheme of the invention: the pre-judgment ray determination unit includes:
the minimum value calculating subunit subtracts the set value from the area of the closed area to obtain the minimum value of the area of the closed area;
a maximum value calculating subunit, wherein the area of the closed area is added with a set value to obtain the maximum value of the area of the closed area; and
a determination subunit configured to determine whether the first sub-area is in the interval [ closed area minimum value, closed area maximum value ], and determine that the closed area is equal to the first sub-area when in the interval; when not in the interval, it is determined that the closed region area is not equal to the first sub-region area.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the plane view of the total operation area can be automatically divided according to the number of mine cars and the set working efficiency of the mine cars, so that a mine car driver can operate according to the plane view of the operation subarea, and the division operation effect is better; in addition, the invention can calculate and obtain the actual working area information, further obtain the actual working efficiency, re-divide the total area plan of the residual operation according to the actual working efficiency, and automatically adjust the sub-area plan of the residual operation, so that all mine car drivers can synchronously complete the operation, and the completion time of the whole operation is reduced to the greatest extent.
Drawings
FIG. 1 is a flow chart of a method for collaborative data sharing for multiple mining vehicles.
FIG. 2 is a flow chart of dividing a plan view of an operation total area into a plurality of plan views of operation sub-areas in a multi-mine car collaborative data sharing method.
FIG. 3 is a flow chart of a second line segment drawn from the center of gravity in a multi-mine car collaborative data sharing method.
FIG. 4 is a flow chart of determining whether the area of the enclosed area is equal to the area of the first sub-area in a multi-mine car cooperative data sharing method.
FIG. 5 is a flow chart of the actual working area information calculated according to the mine car driving path in the multi-mine car cooperative data sharing method.
FIG. 6 is a flow chart of obtaining information of an actual working area according to a mine car running path diagram and an operation subarea plan in a multi-mine car cooperative data sharing method.
FIG. 7 is a schematic diagram of a collaborative data sharing system for a multi-mine car.
FIG. 8 is a schematic diagram of a total area partition module in a multi-mine car collaborative data sharing device.
FIG. 9 is a schematic diagram of a second segment determination sub-module in a multi-mine car collaborative data sharing device.
FIG. 10 is a schematic diagram of a pre-determined ray determination unit in a multi-mine car collaborative data sharing apparatus.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Specific implementations of the invention are described in detail below in connection with specific embodiments.
As shown in fig. 1, the embodiment of the invention provides a multi-mine car collaborative data sharing method, which comprises the following steps:
s100, receiving mine car operation area information, wherein the mine car operation area information comprises an operation total area plan;
s200, dividing a working total area plan according to the number of mine cars and the set working efficiency of the mine cars, dividing the working total area plan into a plurality of working subarea plan, and sending the working subarea plan to a corresponding mine car terminal so that a mine car driver can work according to the working subarea plan;
s300, recording the mine car running path in real time, sending the mine car running path and the mine car running time to a cloud platform through a mine car terminal, and calculating to obtain actual working area information according to the mine car running path every other preset time; obtaining the actual working efficiency of the mine car according to the actual working area information and the mine car running time;
s400, dividing the plan view of the total area of the residual operation again according to the actual working efficiency, dividing the plan view of the total area of the residual operation into a plurality of plan views of the sub-area of the residual operation, and sending the plan views of the sub-area of the residual operation to corresponding mine car terminals so that a mine car driver can synchronously complete the operation, wherein the plan view of the total area of the residual operation is obtained by subtracting the actual working area information from the plan view of the total area of the operation.
It should be noted that, in mining industry work, when the workload is large, in order to improve the working efficiency, a plurality of mine cars are often required to be used for working so as to reduce the completion time of the whole work, however, in the prior art, the plurality of mine cars lack of effective communication connection, so that each mine car is in a state of being in charge, and cannot perform cooperation well, and the completion time of the whole work is difficult to reduce to the greatest extent.
In the embodiment of the invention, a cloud platform is firstly required to be built and is in communication connection with a mine car terminal, when a plurality of mine cars are required to perform cooperative operation, mine car operation area information is firstly required to be sent to the cloud platform, the mine car operation area information comprises an operation total area plan, mine car operation area information is uploaded by related workers, then the operation total area plan is divided according to the number of the mine cars and the set working efficiency of the mine cars, the operation total area plan is divided into a plurality of operation subarea plan, the operation subarea plan is sent to the corresponding mine car terminal, so that a mine car driver can perform operation according to the operation subarea plan, wherein the mine car setting working efficiency is set by the workers according to the rated power and other parameters of the mine cars, for example, three mine cars perform cooperative operation, and the ratio of the mine car setting working efficiency of the three mine cars is as follows: 2:3:4, dividing the operation total area plan into three operation subarea plan views when the area of the operation total area plan view is 900 square meters, wherein the areas of the three operation subarea plan views are respectively as follows: 200 square meters, 300 square meters, and 400 square meters; in addition, in the working process of the mine car, the running path of the mine car needs to be recorded in real time, the running path of the mine car and the running time of the mine car are sent to the cloud platform through the terminal of the mine car, and the actual working area information is obtained through calculation according to the running path of the mine car at intervals of a preset time; according to the method and the device, the actual working efficiency of the mine car is obtained according to the actual working area information and the mine car running time, the plan of the total area of the residual operation is segmented again according to the actual working efficiency, the plan of the total area of the residual operation is segmented into a plurality of plan of the subareas of the residual operation, and the plan of the subareas of the residual operation is sent to the corresponding mine car terminal.
As shown in fig. 2, as a preferred embodiment of the present invention, the step of dividing the working total area plan into a plurality of working sub-area plan according to the number of mine cars and the set working efficiency of the mine cars specifically includes:
s201, calculating to obtain the total area of the operation total area plan;
s202, obtaining a plurality of subarea areas according to the total area, the number of mine cars and the set working efficiency of the mine cars, wherein the number of the subarea areas is the same as the number of the mine cars;
s203, determining the gravity center of a plan view of the total area of the operation;
s204, leading out a first line segment from the gravity center to a set direction, wherein one end of the first line segment is the gravity center, and the other end of the first line segment is intersected with the outline of the plan view of the working total area;
s205, leading out a second line segment from the center of gravity, wherein the area of a closed region formed by the first line segment, the second line segment and the outline of the plan view of the working total region is one of the subareas;
s206, leading out an N line segment from the center of gravity, wherein the area of a closed area formed by the N-1 line segment, the N line segment and the outline of the working total area plan is one of the subarea areas, the total number N of the line segments led out from the center of gravity is equal to the number of mine cars, and the working total area plan is divided into a plurality of working subarea plan by a plurality of led-out line segments.
In the embodiment of the invention, when the operation total area plan is divided into a plurality of operation subarea plan, the total area of the operation total area plan is needed to be calculated, the area of a closed graph can be automatically calculated by the existing graph software, the cloud platform comprises a corresponding algorithm of the software, the total area can be automatically calculated, then a plurality of subarea areas are obtained, then the gravity center of the operation total area plan is determined, the gravity center position of the closed graph can be automatically obtained by the existing graph software, and the cloud platform comprises the corresponding algorithm of the software, which is not repeated here; and then, a first line segment is led out from the gravity center to a setting direction, wherein the setting direction is manually set, such as the north direction, then, a second line segment is led out from the gravity center, the area of a closed area formed by the outlines of the first line segment, the second line segment and the operation total area plan is one of the subarea areas, then, an N line segment is led out from the gravity center, the area of the closed area formed by the outlines of the N-1 line segment, the N line segment and the operation total area plan is one of the subarea areas, the area of the closed area formed by the outlines of the N line segment, the first line segment and the operation total area plan is also one of the subarea areas, and each closed area corresponds to one subarea area in a one-to-one correspondence manner, so that the automatic division work of the operation total area plan can be completed.
As shown in fig. 3, as a preferred embodiment of the present invention, the step of drawing the second line segment from the center of gravity, where the area of the closed area formed by the first line segment, the second line segment and the outline of the working total area plan view is one of the subareas specifically includes:
s2051, carrying out ascending arrangement on the areas of a plurality of sub-areas to obtain: a first sub-region area, a second sub-region area, … …, an nth sub-region area;
s2052, leading out a first pre-judging ray from the gravity center, wherein the included angle between the first pre-judging ray and the first line segment is a preset differential angle;
s2053, calculating the area of a closed area formed by the first line segment, the first pre-judging ray and the outline of the operation total area plan, judging whether the area of the closed area is equal to the area of the first subarea, rotating the first pre-judging ray by a preset differential angle according to a preset steering direction when the area of the closed area is not equal to the area of the first subarea, and calculating the area of the closed area formed by the first line segment, the first pre-judging ray and the outline of the operation total area plan again until the area of the closed area is equal to the area of the first subarea;
s2054, marking the section from the center of gravity to the outline of the plan view of the operation total area in the first prejudging ray as a second line segment.
In the embodiment of the present invention, before the second line segment is led out from the center of gravity, the areas of the plurality of sub-areas need to be arranged in an ascending order, for example, to obtain: the method comprises the steps of (1) a first subarea area, a second subarea area, a third subarea area and a fourth subarea area, then leading out a first prejudging ray from the center of gravity, wherein an included angle between the first prejudging ray and a first line segment is a preset differential angle, calculating a closed area formed by the first line segment, the first prejudging ray and the outline of a working total area plan, judging whether the closed area is equal to the first subarea area or not, rotating the first prejudging ray by a preset differential angle according to preset steering when the closed area is unequal, and calculating the closed area formed by the first line segment, the first prejudging ray and the outline of the working total area plan again until the closed area is equal to the first subarea area, wherein the first prejudging ray does not rotate any more, and the section from the center of gravity in the first prejudging ray to the outline of the working total area plan is marked as a second line segment; similarly, when the third line segment is led out, a second pre-judging ray needs to be led out in advance, the included angle between the second pre-judging ray and the second line segment is a preset differential angle, the area of a closed area formed by the second line segment, the second pre-judging ray and the outline of the operation total area plan is calculated, whether the area of the closed area is equal to the area of the second sub-area or not is judged, when the area of the closed area is unequal, the second pre-judging ray rotates by a preset differential angle according to preset steering, the area of the closed area formed by the second line segment, the second pre-judging ray and the outline of the operation total area plan is calculated again until the area of the closed area is equal to the area of the second sub-area, and the second pre-judging ray does not rotate any more.
As shown in fig. 4, as a preferred embodiment of the present invention, the step of determining whether the area of the closed area is equal to the area of the first sub-area specifically includes:
s20531, subtracting a set value from the area of the closed area to obtain the minimum value of the area of the closed area;
s20532, adding a set value to the area of the closed area to obtain the maximum value of the area of the closed area;
s20533, judging whether the area of the first subarea is in the interval of [ minimum area of the closed area, maximum area of the closed area ], and judging that the area of the closed area is equal to the area of the first subarea when the area is in the interval; when not in the interval, it is determined that the closed region area is not equal to the first sub-region area.
In the embodiment of the present invention, it can be understood that the angle of each rotation of the pre-judging ray is a preset differential angle and is a fixed angle, so that the area of the closed area formed by the rotation of the pre-judging ray is increased by a certain area compared with the area of the previous closed area, and the area is uncontrollable, so that it is difficult to ensure that the area of the closed area is completely equal to the area of the first sub-area, and only the area of the closed area is required to be approximately equal to the area of the first sub-area.
As shown in fig. 5, as a preferred embodiment of the present invention, the step of calculating the actual working area information according to the traveling path of the mine car at intervals of a predetermined period of time specifically includes:
s301, acquiring a working width value of each mine car;
s302, thickening the mine car running path according to the working width value to form a mine car running path diagram;
s303, obtaining the information of the actual working area according to the mine car running path diagram and the working subarea plan.
In the embodiment of the invention, in order to obtain the information of the actual working area, the corresponding mine car running path needs to be thickened according to the working width value of each mine car, wherein the working width value refers to the width of the working areas at the left side and the right side of the mine car in the running process, and the area can be calculated after the mine car running path is thickened.
As shown in fig. 6, as a preferred embodiment of the present invention, the step of obtaining the actual working area information according to the mine car running path diagram and the working sub-area plan view specifically includes:
s3031, enabling the positions in the plan view of the working subarea and the traveling path view of the mine car to coincide;
s3032, calculating the area of the overlapping part of the mine car running path diagram and the corresponding operation subarea plan, and obtaining the actual working area information.
In the embodiment of the invention, the actual working area information can be obtained by firstly enabling the coordinate positions in the working subarea plan view and the mine car running path view to coincide and then calculating the area of the overlapping part of the mine car running path view and the corresponding working subarea plan view, and the condition that the mine car running path view possibly exceeds the working subarea plan view and the area of the working area is not calculated is easily understood.
As shown in fig. 7, the embodiment of the invention further provides a device for sharing data with multiple mine cars, which comprises:
the area information receiving module 100 is used for receiving mine car operation area information, wherein the mine car operation area information comprises an operation total area plan;
the total area dividing module 200 is used for dividing the operation total area plan according to the number of mine cars and the set working efficiency of the mine cars, dividing the operation total area plan into a plurality of operation subarea plan, and sending the operation subarea plan to the corresponding mine car terminal so that the mine car driver can operate according to the operation subarea plan;
the actual work efficiency determining module 300 is used for recording the mine car running path in real time, sending the mine car running path and the mine car running time to the cloud platform through the mine car terminal, and calculating to obtain actual work area information according to the mine car running path at intervals of a preset time; obtaining the actual working efficiency of the mine car according to the actual working area information and the mine car running time; and
the zone re-segmentation module 400 is configured to re-segment the total zone plan of the remaining operation according to the actual working efficiency, segment the total zone plan of the remaining operation into a plurality of remaining operation sub-zone plan, and send the remaining operation sub-zone plan to the corresponding mine car terminal, so that the mine car driver can synchronously complete the operation.
As shown in fig. 8, as a preferred embodiment of the present invention, the total area dividing module 200 includes:
a total area calculation sub-module 201, configured to calculate a total area of the operation total area plan;
a sub-area determining sub-module 202, configured to obtain a plurality of sub-area areas according to the total area, the number of mine cars and the set working efficiency of the mine cars, where the number of sub-area areas is the same as the number of mine cars;
a center of gravity determination sub-module 203 for determining a center of gravity of the work total area plan;
a first line segment determining submodule 204, wherein a first line segment is led out from the gravity center to a set direction, one end of the first line segment is the gravity center, and the other end of the first line segment is intersected with the outline of the plan view of the operation total area;
the second line segment determining submodule 205 is used for leading out the second line segment from the center of gravity, and the area of a closed area formed by the first line segment, the second line segment and the outline of the working total area plan is one of the subarea areas; and
the nth segment determining submodule 206 is used for leading out the nth segment from the center of gravity, the area of a closed area formed by the N-1 segment, the nth segment and the outline of the working total area plan is one of the subarea areas, the total number of the segments led out from the center of gravity is equal to the number of mine cars, and the working total area plan is divided into a plurality of working subarea plan by the plurality of led out segments.
As shown in fig. 9, as a preferred embodiment of the present invention, the second line segment determining submodule 205 includes:
the ascending order unit 2051 is configured to ascending order a plurality of sub-area areas to obtain: a first sub-region area, a second sub-region area, … …, an nth sub-region area;
the pre-judgment ray extraction unit 2052 extracts a first pre-judgment ray from the center of gravity, wherein an included angle between the first pre-judgment ray and the first line segment is a preset differential angle;
the pre-judging ray determining unit 2053 is configured to calculate a closed area formed by the first line segment, the first pre-judging ray and the outline of the operation total area plan, determine whether the closed area is equal to the first sub-area, rotate the first pre-judging ray by a preset differential angle according to a preset rotation direction when the closed area is not equal to the first sub-area, and calculate the closed area formed by the first line segment, the first pre-judging ray and the outline of the operation total area plan again until the closed area is equal to the first sub-area; and
the second line segment determining unit 2054 is configured to mark, as a second line segment, a segment from the center of gravity to the outline of the job total area plan view in the first predetermined line.
As shown in fig. 10, as a preferred embodiment of the present invention, the pre-judgment ray determination unit 2053 includes:
a minimum value calculation subunit 20531, wherein the area of the closed area is subtracted by the set value to obtain the minimum value of the area of the closed area;
a maximum value calculation subunit 20532, wherein the area of the closed region is added with the set value to obtain the maximum value of the area of the closed region; and
a determination subunit 20533 for determining whether the first sub-area is in the interval [ closed area minimum value, closed area maximum value ], and when in the interval, determining that the closed area is equal to the first sub-area; when not in the interval, it is determined that the closed region area is not equal to the first sub-region area.
The foregoing description of the preferred embodiments of the present invention should not be taken as limiting the invention, but rather should be understood to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in various embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (6)
1. The method for sharing the collaborative data of the multiple mine cars is characterized by comprising the following steps of:
receiving mine car operation area information, wherein the mine car operation area information comprises an operation total area plan;
dividing the plan of the total operation area into a plurality of plan of the sub-operation areas according to the number of mine cars and the set working efficiency of the mine cars, and sending the plan of the sub-operation areas to the corresponding mine car terminals so that a mine car driver can operate according to the plan of the sub-operation areas;
recording the mine car running path in real time, transmitting the mine car running path and the mine car running time to a cloud platform through a mine car terminal, and calculating according to the mine car running path every other preset time to obtain actual working area information; obtaining the actual working efficiency of the mine car according to the actual working area information and the mine car running time;
dividing the total area plan of the residual operation into a plurality of residual operation subarea plan views according to the actual working efficiency, and sending the residual operation subarea plan views to corresponding mine car terminals so that a mine car driver can synchronously complete the operation, wherein the total area plan of the residual operation is obtained by subtracting the actual working area information from the total area plan of the operation;
the method specifically comprises the steps of dividing a working total area plan into a plurality of working subarea plan according to the number of mine cars and the working efficiency of mine car setting, wherein the steps comprise:
calculating to obtain the total area of the plan view of the total area of the operation;
obtaining a plurality of subarea areas according to the total area, the number of mine cars and the set working efficiency of the mine cars, wherein the number of the subarea areas is the same as the number of the mine cars;
determining the gravity center of a plan view of the total area of the operation;
a first line segment is led out from the gravity center to a set direction, one end of the first line segment is the gravity center, and the other end of the first line segment is intersected with the outline of the plan view of the working total area;
the second line segment is led out from the center of gravity, and the area of a closed area formed by the first line segment, the second line segment and the outline of the plan view of the working total area is one of the subareas;
the N line segment is led out from the center of gravity, the area of a closed area formed by the N-1 line segment, the N line segment and the outline of the working total area plan is one of the subarea areas, the total number N of the line segments led out from the center of gravity is equal to the number of mine cars, and the working total area plan is divided into a plurality of working subarea plan by a plurality of led-out line segments;
wherein, draw out the second line segment by the focus, the closed area that first line segment, second line segment and the outline of the total regional plan of operation formed is the step of one of them subregion area, specifically includes:
the areas of a plurality of sub-areas are arranged in ascending order to obtain: a first sub-region area, a second sub-region area, … …, an nth sub-region area;
leading out a first prejudging ray from the gravity center, wherein the included angle between the first prejudging ray and the first line segment is a preset differential angle;
calculating the area of a closed area formed by the first line segment, the first pre-judging ray and the outline of the operation total area plan, judging whether the area of the closed area is equal to the area of the first subarea, rotating the first pre-judging ray by a preset differential angle according to a preset steering direction when the area of the closed area is unequal, and calculating the area of the closed area formed by the first line segment, the first pre-judging ray and the outline of the operation total area plan again until the area of the closed area is equal to the area of the first subarea, wherein the first pre-judging ray does not rotate any more;
the segment from the center of gravity of the first prejudged ray to the outline of the plan view of the working total area is marked as a second segment.
2. The method for sharing collaborative data with multiple mining vehicles according to claim 1, wherein the step of determining whether the area of the closed area is equal to the area of the first sub-area comprises:
subtracting the set value from the area of the closed area to obtain the minimum value of the area of the closed area;
adding a set value to the area of the closed area to obtain the maximum value of the area of the closed area;
determining whether the first subarea area is in the interval of [ closed area minimum value, closed area maximum value ], and determining that the closed area is equal to the first subarea area when the first subarea area is in the interval; when not in the interval, it is determined that the closed region area is not equal to the first sub-region area.
3. The method for sharing collaborative data with multiple mine cars according to claim 1, wherein the step of calculating the actual working area information according to the traveling path of the mine car every predetermined period of time comprises the following steps:
acquiring a working width value of each mine car;
thickening the mine car running path according to the working width value to form a mine car running path diagram;
and obtaining the information of the actual working area according to the mine car running path diagram and the working subarea plan.
4. The method for sharing collaborative data of a plurality of mine cars according to claim 3, wherein the step of obtaining information of an actual working area according to a mine car driving path diagram and a working subarea plan view comprises the following steps:
the positions of the working subarea plan view and the mine car running path view are overlapped;
and calculating the area of the overlapping part of the mine car running path diagram and the corresponding operation subarea plan diagram, and obtaining the actual working area information.
5. A multi-mine car collaborative data sharing apparatus, the apparatus comprising:
the mining car operation area information comprises an operation total area plan;
the total area dividing module is used for dividing the operation total area plan according to the number of mine cars and the set working efficiency of the mine cars, dividing the operation total area plan into a plurality of operation subarea plan, and sending the operation subarea plan to the corresponding mine car terminal so that a mine car driver can operate according to the operation subarea plan;
the actual work efficiency determining module is used for recording the mine car running path in real time, sending the mine car running path and the mine car running time to the cloud platform through the mine car terminal, and calculating according to the mine car running path every other preset time to obtain actual work area information; obtaining the actual working efficiency of the mine car according to the actual working area information and the mine car running time; and
the region re-segmentation module is used for re-segmenting the total region plan of the residual operation according to the actual working efficiency, segmenting the total region plan of the residual operation into a plurality of residual operation subarea plan views, and sending the residual operation subarea plan views to corresponding mine car terminals so that a mine car driver can synchronously complete the operation;
the total region segmentation module comprises:
the total area calculation sub-module is used for calculating the total area of the operation total area plan;
the subarea area determining submodule is used for obtaining a plurality of subarea areas according to the total area, the number of mine cars and the set working efficiency of the mine cars, and the number of the subarea areas is the same as the number of the mine cars;
the center of gravity determining submodule is used for determining the center of gravity of the plan view of the total area of the operation;
the first line segment determining submodule is used for leading out a first line segment from the gravity center to the set direction, one end of the first line segment is the gravity center, and the other end of the first line segment is intersected with the outline of the plan view of the working total area;
the second line segment determining submodule is used for leading out the second line segment from the center of gravity, and the area of a closed area formed by the first line segment, the second line segment and the outline of the working total area plan is one of the subarea areas; and
the N line segment determining submodule is used for leading out an N line segment from the center of gravity, wherein the area of a closed area formed by the N-1 line segment, the N line segment and the outline of the working total area plan is one of the subarea areas, the total number N of the line segments led out from the center of gravity is equal to the number of mine cars, and the working total area plan is divided into a plurality of working subarea plan by a plurality of led-out line segments;
wherein the second line segment determination submodule includes:
the ascending arrangement unit is used for ascending arrangement of the areas of the plurality of sub-areas to obtain: a first sub-region area, a second sub-region area, … …, an nth sub-region area;
the first prejudgment ray is led out from the gravity center, and the included angle between the first prejudgment ray and the first line section is a preset differential angle;
the pre-judging ray determining unit is used for calculating the area of a closed area formed by the first line segment, the first pre-judging ray and the outline of the operation total area plan, judging whether the area of the closed area is equal to the area of the first subarea, rotating the first pre-judging ray by a preset differential angle according to a preset rotation direction when the area of the closed area is not equal to the area of the first subarea, and calculating the area of the closed area formed by the first line segment, the first pre-judging ray and the outline of the operation total area plan again until the area of the closed area is equal to the area of the first subarea; and
and the second line segment determining unit is used for marking the section from the center of gravity to the outline of the plan view of the working total area in the first prejudging line as a second line segment.
6. A multi-mine car cooperative data sharing apparatus according to claim 5, wherein the pre-judgment line determining unit includes:
the minimum value calculating subunit subtracts the set value from the area of the closed area to obtain the minimum value of the area of the closed area;
a maximum value calculating subunit, wherein the area of the closed area is added with a set value to obtain the maximum value of the area of the closed area; and
a determination subunit configured to determine whether the first sub-area is in the interval [ closed area minimum value, closed area maximum value ], and determine that the closed area is equal to the first sub-area when in the interval; when not in the interval, it is determined that the closed region area is not equal to the first sub-region area.
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