CN117558147A - Mining area unmanned vehicle road right distribution remote control method - Google Patents
Mining area unmanned vehicle road right distribution remote control method Download PDFInfo
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Abstract
The invention relates to the field of unmanned mine car control systems, and provides a mining area unmanned vehicle road right distribution remote control method, which comprises the following steps: collecting a roadmap of a mining area to obtain a roadmap structure of the mining area; acquiring a departure point and a final arrival point of each mine car, and obtaining a running tree structure of each mine car by combining a road network graph structure; obtaining a substitutable factor of each side in the running tree structure of each mine car; obtaining a bending factor and a bending change uniformity factor of each road according to a roadmap of the mining area; acquiring steering factors of each side in the running tree structure of each mine car; and obtaining the edge value of each side in the running tree structure of each mine car according to the replaceable factors and steering factors of each side in the running tree structure of each mine car and the bending factors and bending change uniformity factors of each side corresponding to each road, and obtaining the optimal path of each mine car through the edge value. The invention aims to solve the problem that the stable running of a mine car is affected due to the fact that a road in a mining area is bent and uneven.
Description
Technical Field
The invention relates to the field of unmanned mine car control systems, in particular to a mining area unmanned vehicle road right distribution remote control method.
Background
Mine cars in mining areas are usually in an unmanned automatic mode, the environments of the mining areas are complex and changeable, roads are curved and rugged, and more and heavier ore is loaded in most cases of mine car running, so that the stable running of the mine cars can be influenced by the complex environments of the mining areas; in the process of starting points and ending points, the mine car can pass through a plurality of sections of roads, each section of road is segmented by each intersection, and due to the fact that the roads are bent, the mine car can incline in the running process, the mine car is gradually unstable due to the fact that the roads with the larger bending degree and the larger curvature difference are bent, and therefore turning over is caused, and therefore normal running of the mine car is affected; the bumpy road can lead the mine car to bump in the tilting process, thereby causing the gravity center of the mine car to change and aggravating the risk of tilting and even turning over the mine car; therefore, the driving paths of the mine cars need to be screened according to the curvature of the road and the steering of the intersection, and finally the road right distribution of the unmanned mine cars is completed.
Disclosure of Invention
The invention provides a remote control method for road right distribution of unmanned vehicles in mining areas, which aims to solve the problem that the stable running of mine cars is affected due to the fact that the existing mining areas are curved and uneven, and adopts the following technical scheme:
one embodiment of the invention provides a remote control method for road right distribution of unmanned vehicles in a mining area, which comprises the following steps:
collecting a roadmap of a mining area to obtain a roadmap structure of the mining area; the roadmap comprises coordinate information of each intersection and a plurality of sampling points on each road, and curves corresponding to each road;
acquiring a departure point and a final arrival point of each mine car, obtaining a plurality of running paths of each mine car, and obtaining a running tree structure of each mine car by combining a road network graph structure; obtaining a substitutable factor of each side in the running tree structure of each mine car according to the running tree structure;
obtaining a plurality of bending turning points and a plurality of segmented roads of each road according to a roadmap of a mining area to obtain a bending factor and a bending change uniformity factor of each road; according to the running tree structure and a plurality of segmented roads of each road, steering factors of each side in the running tree structure of each mine car are obtained;
and obtaining the edge value of each side in the running tree structure of each mine car according to the replaceable factors and steering factors of each side in the running tree structure of each mine car and the bending factors and bending change uniformity factors of each side corresponding to each road, and obtaining the optimal path of each mine car through the edge value.
Further, the method for obtaining the road network graph structure of the mining area comprises the following specific steps:
and taking all the intersections as nodes, taking the roads between the intersections as edges, taking the length of each road as an initial edge value, constructing an undirected graph structure, and recording the undirected graph structure as a road network graph structure of a mining area.
Further, the specific method for obtaining the plurality of running paths of each mine car comprises the following steps:
for any mine car, according to the nodes corresponding to the departure point and the final arrival point of the mine car in the road network diagram structure, a plurality of paths of the mine car are obtained, and each path is recorded as a running path of the mine car.
Further, the method for obtaining the traveling tree structure of each mine car by combining the road network graph structure comprises the following specific steps:
and for any mine car, taking a node corresponding to the departure point of the mine car as a root node, constructing a tree structure according to a plurality of running paths of the mine car, wherein leaf nodes of each running path are nodes corresponding to the ending point, and marking the obtained tree structure as the running tree structure of the mine car.
Further, the method for obtaining the replaceable factors of each side in the traveling tree structure of each mine car specifically comprises the following steps:
for any one side in the running tree structure of any mine car, marking other child nodes except the child node corresponding to the side under the father node corresponding to the side as same-layer nodes of the child node corresponding to the side, and marking the number of the same-layer nodes as the substitutable factors of the side.
Further, the specific obtaining method includes the steps of:
for any road in a road map, obtaining a tangent line for each sampling point on the road, recording the slope of the tangent line corresponding to each sampling point and the included angle between the tangent line and the horizontal right direction, arranging all slopes according to the obtaining sequence of the sampling points on the road, marking the obtained sequence as a slope sequence of the road, subtracting the former slope from the latter slope for two adjacent elements in the slope sequence to obtain a difference value, and arranging the difference values according to the obtaining sequence to obtain a difference value sequence of the road;
counting the element number smaller than 0 in the difference sequence, and marking as n1; counting the number of elements larger than 0 in the difference sequence, and marking as n2; if it isTaking a sampling point corresponding to the previous slope in two adjacent elements in the slope sequence corresponding to the element smaller than 0 in the difference sequence as a bending turning point; if it isTaking a sampling point corresponding to the previous slope in two adjacent elements in the slope sequence corresponding to the element larger than 0 in the difference sequence as a bending turning point; the road is segmented through the bending turning points, each bending turning point is used as a termination point of each segmented road, and the termination point of the road is used as a termination point, so that a plurality of segmented roads of the road are obtained.
Further, the method for obtaining the bending factor and the bending variation uniformity factor of each road comprises the following specific steps:
obtaining a plurality of bending turning points and a plurality of segmented roads of each road, obtaining the number of the bending turning points of each road, and recording the ratio of the number of the bending turning points of any road to the maximum value of the number of the bending turning points in all the roads as the bending factor of the road;
for any one segmented road in the segmented road, the slopes of the tangents corresponding to all sampling points in the segmented road are arranged according to the acquisition sequence of the sampling points, the obtained sequence is recorded as a segmented slope sequence of the segmented road, the difference value obtained by subtracting the previous slope from the next slope of two adjacent elements in the segmented slope sequence is acquired, and the difference value is obtainedRecorded as the slope change uniformity of the segmented road, whereinRepresenting the variance of all differences corresponding to the segment slope sequence of the segment road,to avoid hyper-parameters where the output value of the exponential function is too small,an exponential function that is based on a natural constant; and acquiring the slope change uniformity of each segmented road in the road, and recording the average value of all slope change uniformity as a bending change uniformity factor of the road.
Further, the steering factor of each side in the traveling tree structure of each mine car is obtained by the specific method:
according to the bending turning points in each road, the sectional slope sequences of the sectional roads and the slope change uniformity, the running tree structure of each mine car is combined to obtain a target running road and slope change average value, a reference running road and a steering angle of each side in the running tree structure of each mine car; the target driving road and the reference driving road are segmented roads;
wherein, the liquid crystal display device comprises a liquid crystal display device,represents the steering factor of any side in the running tree structure of any mine car,indicating the slope change uniformity of the target travel road on the side,indicating the slope change uniformity of the reference travel road for the side,represents the average value of the slope change of the target travel road on the side,indicating the steering angle of the edge,to avoid over-parametrics with excessively small output values of the exponential function.
Further, the specific method for obtaining the target driving road and the slope change mean value, the reference driving road and the steering angle of each side in the driving tree structure of each mine car comprises the following steps:
for any side in the running tree structure of any mine car, acquiring a first segmented road on a corresponding road from a corresponding father node of the side, and marking the first segmented road as a target running road of the side; acquiring the last edge of the edge in the running tree structure, and marking the last edge as a reference edge of the edge; acquiring a first segmented road on a corresponding road from a sub-node corresponding to a reference edge, and marking the first segmented road as a reference driving road of the edge; in a segmented slope sequence corresponding to a target driving road, subtracting the previous slope from the next slope to obtain a plurality of differences by two adjacent elements, and taking the absolute value of the average value of all the differences as the slope change average value of the target driving road;
and obtaining a tangent line of the target driving road corresponding to the bending turning point, and referring to the tangent line of the driving road corresponding to the bending turning point, wherein the included angle of the two tangent lines is used as the steering angle of the edge.
Further, the specific obtaining method of the edge value of each edge in the traveling tree structure of each mine car comprises the following steps:
wherein, the liquid crystal display device comprises a liquid crystal display device,representing any side of running tree structure of any mine carIs used to determine the boundary value of the (c),an alternative factor representing the edge is indicated,the steering factor of the edge is indicated,representing the bending factor of the road to which the edge corresponds,indicating the curve change uniformity factor of the road to which the edge corresponds.
The beneficial effects of the invention are as follows: according to the invention, a road network diagram structure is constructed according to roads and intersections for a mine area road map, a plurality of running paths are obtained for different mine cars according to starting points and ending points, a running tree structure is constructed, the bending characteristics of each road in the road map are combined, the edge value of each edge in the running tree structure is obtained, and then the path planning of each mine car is completed by obtaining the shortest path, so that the running stability of the mine car on the mine area road is ensured, and the condition that the mine car tilts or even turns over due to the bending of the road is avoided; after the running tree structure is obtained, the replaceable factors of the sides are obtained in a quantization mode through the distribution of the child nodes under the father nodes corresponding to the sides, and the replaceable factors are used for reflecting the replaceable and replacement cost of the sides in the running tree structure; for the bending characteristics of the road in the roadmap, according to the distribution of sampling points on the road and the slope of a tangent line of the road, obtaining bending turning points and segmented roads in a quantification mode, and obtaining bending factors and bending change uniformity factors of the road through the change of the slope of the sampling points in the segmented roads so as to reflect the change of the overall driving steering of the road; and then the steering factors are quantified by combining the tangential lines of the sampling points through the change of the slopes on the segmented roads on the front and rear sides of the crossing on the running path in the running tree structure, the running stability of each side in the running process is reflected by the steering factors, the edge values are further comprehensively quantified, the shortest path is obtained through the edge values, and therefore stable running of the mine car in the mining area is ensured, and road weight distribution of the mining area is realized.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a schematic flow chart of a remote control method for road right distribution of unmanned vehicles in mining areas according to an embodiment of the present invention;
FIG. 2 is a diagram of a mine car road network structure and a travel tree structure conversion schematic of each mine car.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a flowchart of a remote management and control method for road right distribution of unmanned vehicles in mining areas according to an embodiment of the invention is shown, and the method comprises the following steps:
and S001, collecting a roadmap of the mining area to obtain a roadmap structure of the mining area.
The purpose of this embodiment is to perform road right allocation, i.e. path planning, on unmanned vehicles in a mining area, so that all roads in the mining area need to be acquired first, meanwhile, the roads are segmented through intersections, i.e. the roads between the intersections are used as a road, and a road network map structure is constructed according to the acquired roads and intersections.
Specifically, a roadmap of a mining area is obtained, wherein the roadmap is a two-dimensional plan, coordinate information of each intersection in the roadmap is recorded, and the intersections comprise intersections and endpoints of each road, namely, coordinate information obtained by constructing a two-dimensional coordinate system according to the two-dimensional plan; meanwhile, for any road, taking an intersection of the road close to the upper left part in a road map as a starting point of the road, acquiring a sampling point on the road at intervals of 1 meter (1 meter on the road length), recording coordinate information of the sampling points, and acquiring information of a plurality of sampling points for the road, wherein the requirement is that if the road length between the last sampling point and another intersection of the road, namely, a termination point, is less than 1 meter after the road acquires the plurality of sampling points, the sampling points are not acquired; coordinate information of a plurality of intersections in the roadmap is obtained, and position information of a plurality of sampling points on each road is obtained; and taking all the intersections as nodes, taking the roads between the intersections as edges, taking the length of each road as an initial edge value, constructing an undirected graph structure, and recording the undirected graph structure as a road network graph structure of a mining area.
The road map of the mining area, the coordinate information of a plurality of intersections therein and the position information of a plurality of sampling points on each road are acquired, and a road network map structure is constructed according to the road map.
Step S002, obtaining a departure point and a final arrival point of each mine car, obtaining a plurality of running paths of each mine car, and obtaining a running tree structure of each mine car by combining a road network graph structure; and obtaining the substitutional factors of each side in the running tree structure of each mine car according to the running tree structure.
It should be noted that, from the starting point to the end point, there are often multiple running paths that can be selected, and the existing method often directly selects the running path according to factors such as path length, road surface roughness, etc., so as to obtain an optimal path; on the basis of the road network diagram structure, the road network diagram structure is converted into a traveling tree structure according to a plurality of traveling paths of the mine car, and according to the distribution of father nodes and child nodes in the traveling tree structure, each side of the traveling tree structure of each mine car can be changed by a replaceable factor so as to represent the replaceability of each road in the traveling paths of the mine car, and a basis is provided for obtaining an optimal path by combining the bending characteristics of the roads.
Specifically, for a plurality of mine cars in a mining area, each mine car corresponds to a fixed departure point and a fixed final arrival point, namely corresponding intersections, a plurality of paths of the mine car are obtained according to nodes corresponding to the departure point and the final arrival point of the mine car in a road network diagram structure for any mine car, and each path is recorded as one running path of the mine car, so that a plurality of running paths of the mine car are obtained.
Further, taking a node corresponding to a departure point of the mine car as a root node, constructing a tree structure according to a plurality of running paths of the mine car, wherein leaf nodes of each running path are nodes corresponding to a final point, and marking the obtained tree structure as a running tree structure of the mine car; referring to fig. 2, the left side is a schematic diagram of a road network diagram structure, the right side is a traveling tree structure of a mine car with a starting point a and a final point e.
Further, for any one side in the running tree structure of the mine car, marking other child nodes except the child node corresponding to the side below the father node corresponding to the side as same-layer nodes of the child node corresponding to the side, and marking the number of the same-layer nodes as the substitutable factors of the side; the more the number of nodes at the same layer is, the more the edges of the edges can be replaced in the path selection of the mine car, and the larger the replaceable factors are; the fewer the number of nodes at the same layer, the fewer the edges of the edges can be replaced in the path selection of the mine car, the more difficult the other edges are selected for replacement, and the smaller the replaceable factors are.
Further, the running tree structure of each mine car and the substitutional factors of each side in each running tree structure are obtained according to the method.
And obtaining the driving tree structure of each mine car and the substitutional factors of each side according to the departure point and the final arrival point of each mine car and by combining the road network graph structure.
Step S003, obtaining a plurality of bending turning points and a plurality of segmented roads of each road according to a roadmap of a mining area, and obtaining a bending factor and a bending change uniformity factor of each road; and obtaining the steering factor of each side in the running tree structure of each mine car according to the running tree structure and a plurality of segmented roads of each road.
It should be noted that, because the road in the mining area is curved and changeable, the rapid steering of the mine car with more load can cause the change of the center of gravity of the car in the process of running on the road, and the mine car is inclined or even overturned, the acquisition of the curved turning points of each road is required according to the distribution of the sampling points in the road map, the road is segmented according to the curved turning points, and the curved uniform change factor is further quantized according to the distribution of the sampling points in the segmented road; meanwhile, for the roads corresponding to each side in the driving tree structure, acquiring steering factors according to the distribution of sampling points of two continuous roads in front of and behind the intersection under the corresponding driving paths; the quantification of the bending factor, the bending change uniformity factor and the steering factor ensures that the sharp steering condition in the running process of the mine car can be reduced in the subsequent optimal path acquisition process, and the running stability of the mine car is further improved.
Specifically, for any road in the roadmap, a tangent line is obtained for each sampling point on the road, that is, as the road is a curve, a tangent line at a corresponding position is obtained for the sampling point, if the position of the sampling point is a straight line, the tangent line is the straight line, the slope of the tangent line corresponding to each sampling point and the included angle between the tangent line and the horizontal right direction are recorded, wherein when the included angle is 90 degrees, the slope isArranging all slopes according to the acquisition sequence of sampling points on the road, marking the obtained sequence as a slope sequence of the road, subtracting the previous slope from the next slope to obtain a difference value of two adjacent elements in the slope sequence, arranging the difference values according to the acquisition sequence to obtain a difference value sequence of the road, wherein the number of elements in the difference value sequence is one less than that of elements in the slope sequence; counting the element number smaller than 0 in the difference sequence, and marking as n1; counting the number of elements larger than 0 in the difference sequence, and marking as n2; if it isNamely, the number of elements larger than 0 in the difference sequence is more, sampling points corresponding to the previous slope in the two adjacent elements in the slope sequence corresponding to the elements smaller than 0 in the difference sequence are used as bending turning points; if it isNamely, the number of elements smaller than 0 in the difference sequence is more, sampling points corresponding to the previous slope in the two adjacent elements in the slope sequence corresponding to the elements larger than 0 in the difference sequence are used as bending turning points; namely, a part of elements with smaller positive and negative changes of the difference values of adjacent elements in the slope sequence are used as bending turning points, namely, the slope of the sampling points is larger than the slope of most of other sampling points; after a plurality of bending turning points are obtained, the road is segmented through the bending turning points, each bending turning point is used as a termination point of each segmented road, and the termination point of the road is also used as a termination point, so that a plurality of segmented roads of the road are obtained.
Further, a plurality of bending turning points and a plurality of segmented roads of each road are obtained according to the method, the number of the bending turning points of each road is obtained, and the ratio of the number of the bending turning points of any road to the maximum value of the number of the bending turning points in all the roads is recorded as the bending factor of the road; for any one segmented road in the segmented road, the segmented road comprises a plurality of sampling points, the slopes of the tangents corresponding to all the sampling points in the segmented road are arranged according to the acquisition sequence of the sampling points, the obtained sequence is recorded as a segmented slope sequence of the segmented road, the difference value obtained by subtracting the previous slope from the next slope of two adjacent elements in the segmented slope sequence is acquired, and the difference value is obtainedRecorded as the slope change uniformity of the segmented road, whereinRepresenting the variance of all differences corresponding to the segment slope sequence of the segment road,to avoid over-parametrics of excessively small output values of the exponential function, the present embodiment employsIn the description which follows,representing an exponential function based on a natural constant, the present embodiment employsThe model is used to present the inverse proportional relationship,for the input of the model, an implementer can set an inverse proportion function according to actual conditions; acquiring the slope change uniformity of each segmented road in the road, and recording the average value of all slope change uniformity as a bending change uniformity factor of the road; and obtaining the segmentation slope sequence and the slope change uniformity of each segmentation road in each road according to the method to obtain the bending change uniformity factor of each road.
Further, for any side in the running tree structure of any mine car, a first segmented road on the corresponding road from the corresponding father node of the side is obtained and is marked as the target running road of the side, namely, the starting point and the ending point of the road are fixed, the sequence of the segmented roads is also fixed, the corresponding father node of the side can be the starting point of the road or the ending point, if the corresponding starting point is the starting point, the first segmented road of the corresponding road is obtained as the target running road, and if the corresponding ending point is the last segmented road of the corresponding road is obtained as the target running road; meanwhile, the last edge of the edge in the running tree structure is obtained and marked as a reference edge of the edge, namely the previous edge of the edge in a running path, for example, the edge in fig. 2 is cd, and the previous edge is ac; acquiring a first segmented road on a corresponding road from a sub-node corresponding to a reference edge, marking the first segmented road as a reference driving road of the edge, and acquiring a target driving road by the same method; in a segmented slope sequence corresponding to a target driving road, subtracting the previous slope from the next slope to obtain a plurality of differences by two adjacent elements, and taking the absolute value of the average value of all the differences as the slope change average value of the target driving road; simultaneously acquiring corresponding curve of target driving roadThe tangent line of the turning point and the tangent line of the corresponding bending turning point of the reference driving road take the included angle of the two tangent lines as the steering angle of the edge, and the range of the steering angle is as followsIt should be noted that, since the target driving road and the reference driving road are the first segmented road or the last segmented road of the respective roads, one of the end points must be the starting point or the ending point of the road, and the corresponding bending turning points are unique; the turning factor of the edgeThe calculation method of (1) is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,indicating the slope change uniformity of the target travel road on the side,indicating the slope change uniformity of the reference travel road for the side,represents the average value of the slope change of the target travel road on the side,indicating the steering angle of the edge,to avoid over-parametrics of excessively small output values of the exponential function, the present embodiment employsIn the description which follows,representing an exponential function based on a natural constant, the present embodiment employsThe model is used to present the inverse proportional relationship,for the input of the model, an implementer can set an inverse proportion function according to actual conditions; specifically, if the parent node corresponding to the edge is the root node, the edge does not have a previous edge, the edge does not have a reference driving road and a steering angle, and the steering factor is calculated in the process ofThe method comprises the steps of carrying out a first treatment on the surface of the The larger the gradient change uniformity of the target running road is, the less the gradient change of a sampling point on the target running road is, the less the abrupt steering of the target running road is, the less the gravity center change is when the mine car runs, the easier the edge should be selected in the follow-up selection, the smaller the edge value should be, and the smaller the corresponding steering factor should be; the smaller the gradient change uniformity of the reference driving road, the more frequently the gravity center of the reference driving road changes, the easier the mine car turns when entering the target driving road through the intersection in the driving process, namely the more suitable for the characteristic of the frequent change of the gravity center, the smaller the edge value, and the smaller the corresponding turning factor; the smaller the slope change mean value of the target driving road is, the more straight the target driving road is, the easier the target driving road is to be selected, and the smaller the corresponding steering factor is; the larger the steering angle is, the easier the mine car is to steer, the smaller the corresponding side value is, so that the mine car is easy to select, and the smaller the steering factor is; and obtaining the steering factor of each side in the running tree structure of each mine car according to the method.
So far, each road is quantized according to the distribution of sampling points in the road map to obtain a bending factor and a bending change uniformity factor, and meanwhile, the steering factor is obtained according to the bending characteristics of the corresponding road on each side of different running paths in the running tree structure of each mine car.
Step S004, obtaining the edge value of each side in the running tree structure of each mine car according to the replaceable factors and steering factors of each side in the running tree structure of each mine car and the bending factors and bending change uniformity factors of each side corresponding to each road, and obtaining the optimal path of each mine car through the edge values; and (5) completing road right allocation of unmanned vehicles in the mining area.
It should be noted that, for the replaceable factor and the steering factor of each edge in the driving tree structure, the smaller the replaceable factor is, the more the replaceable factor cannot be replaced, and the smaller the edge value is, the easier the corresponding edge is selected; the steering factor should be smaller as well, so that the smaller the edge value is, the easier the edge value is selected; for the roads corresponding to the edges, the smaller the bending factors are, the smaller the number of the bending turning points of the roads is, the fewer the sharp turning is, the smaller the edge value is, and therefore the easier the edge value is selected; the larger the bending variation uniformity factor, the smaller the difference between road slope changes, the smaller the margin should be so as to be more easily selected; and obtaining the edge value of each edge in the traveling tree structure of each mine car according to the edge values, and obtaining the optimal path according to the edge values.
Specifically, for any side in the running tree structure of any mine car, the side value of the sideThe calculation method of (1) is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,an alternative factor representing the edge is indicated,the steering factor of the edge is indicated,representing the bending factor of the road to which the edge corresponds,representing the bending change uniformity factor of the road corresponding to the edge; acquiring the edge value of each edge in the running tree structure of the mine car according to the method, and applying Dijkstra algorithm to the mine carThe shortest path is obtained through the edge value, namely the departure point and the final arrival point of the mine car are respectively a root node and a plurality of leaf nodes in the traveling tree structure, and the shortest path is taken as the optimal path of the mine car; and obtaining the edge value of each edge in the running tree structure of each mine car according to the method to obtain the optimal path of each mine car, and completing path planning on mine cars in a mining area in a route map according to the optimal path to realize route right distribution.
By combining the bending characteristics of each road in the mine area roadmap and the running paths of different mine cars on a plurality of roads, the edge value of each edge is quantified by constructing a running tree structure, so that the acquisition of an optimal path is finished, and the path planning of the mine cars and the road weight distribution of the mine area are finished through the optimal path.
It should be noted that, the mine car does not travel unidirectionally in the mine area, and only the departure point and the final arrival point are fixed in each travel task, then the mine car is re-acquired to travel tree structure under the condition that the mine car returns or the departure point and the final arrival point are changed, and the optimal path under the corresponding travel task is acquired according to the method.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the invention, but any modifications, equivalent substitutions, improvements, etc. within the principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A mining area unmanned vehicle road right allocation remote control method, which is characterized by comprising the following steps:
collecting a roadmap of a mining area to obtain a roadmap structure of the mining area; the roadmap comprises coordinate information of each intersection and a plurality of sampling points on each road, and curves corresponding to each road;
acquiring a departure point and a final arrival point of each mine car, obtaining a plurality of running paths of each mine car, and obtaining a running tree structure of each mine car by combining a road network graph structure; obtaining a substitutable factor of each side in the running tree structure of each mine car according to the running tree structure;
obtaining a plurality of bending turning points and a plurality of segmented roads of each road according to a roadmap of a mining area to obtain a bending factor and a bending change uniformity factor of each road; according to the running tree structure and a plurality of segmented roads of each road, steering factors of each side in the running tree structure of each mine car are obtained;
and obtaining the edge value of each side in the running tree structure of each mine car according to the replaceable factors and steering factors of each side in the running tree structure of each mine car and the bending factors and bending change uniformity factors of each side corresponding to each road, and obtaining the optimal path of each mine car through the edge value.
2. The remote control method for road right distribution of unmanned vehicles in mining areas according to claim 1, wherein the obtained road network diagram structure of the mining areas comprises the following specific steps:
and taking all the intersections as nodes, taking the roads between the intersections as edges, taking the length of each road as an initial edge value, constructing an undirected graph structure, and recording the undirected graph structure as a road network graph structure of a mining area.
3. The method for remotely controlling road right distribution of unmanned vehicles in mining areas according to claim 1, wherein the method for obtaining a plurality of travel paths of each mine car comprises the following specific steps:
for any mine car, according to the nodes corresponding to the departure point and the final arrival point of the mine car in the road network diagram structure, a plurality of paths of the mine car are obtained, and each path is recorded as a running path of the mine car.
4. The mining area unmanned vehicle road right distribution remote control method according to claim 1, wherein the driving tree structure of each mine car is obtained by combining a road network graph structure, and the method comprises the following specific steps:
and for any mine car, taking a node corresponding to the departure point of the mine car as a root node, constructing a tree structure according to a plurality of running paths of the mine car, wherein leaf nodes of each running path are nodes corresponding to the ending point, and marking the obtained tree structure as the running tree structure of the mine car.
5. The remote control method for road right distribution of unmanned vehicles in mining areas according to claim 1, wherein the method for obtaining the replaceable factors of each side in the running tree structure of each mine car is as follows:
for any one side in the running tree structure of any mine car, marking other child nodes except the child node corresponding to the side under the father node corresponding to the side as same-layer nodes of the child node corresponding to the side, and marking the number of the same-layer nodes as the substitutable factors of the side.
6. The mining area unmanned vehicle road right distribution remote control method according to claim 1, wherein the specific acquisition method is as follows:
for any road in a road map, obtaining a tangent line for each sampling point on the road, recording the slope of the tangent line corresponding to each sampling point and the included angle between the tangent line and the horizontal right direction, arranging all slopes according to the obtaining sequence of the sampling points on the road, marking the obtained sequence as a slope sequence of the road, subtracting the former slope from the latter slope for two adjacent elements in the slope sequence to obtain a difference value, and arranging the difference values according to the obtaining sequence to obtain a difference value sequence of the road;
counting the element number smaller than 0 in the difference sequence, and marking as n1; counting the number of elements larger than 0 in the difference sequence, and marking as n2; if it isTaking a sampling point corresponding to the previous slope in two adjacent elements in the slope sequence corresponding to the element smaller than 0 in the difference sequence as a bending turning point; if->Taking a sampling point corresponding to the previous slope in two adjacent elements in the slope sequence corresponding to the element larger than 0 in the difference sequence as a bending turning point; the road is segmented through the bending turning points, each bending turning point is used as a termination point of each segmented road, and the termination point of the road is used as a termination point, so that a plurality of segmented roads of the road are obtained.
7. The method for remotely controlling road right distribution of unmanned vehicles in mining areas according to claim 6, wherein the obtaining of the bending factor and the bending change uniformity factor of each road comprises the following specific steps:
obtaining a plurality of bending turning points and a plurality of segmented roads of each road, obtaining the number of the bending turning points of each road, and recording the ratio of the number of the bending turning points of any road to the maximum value of the number of the bending turning points in all the roads as the bending factor of the road;
for any one segmented road in the segmented road, the slopes of the tangents corresponding to all sampling points in the segmented road are arranged according to the acquisition sequence of the sampling points, the obtained sequence is recorded as a segmented slope sequence of the segmented road, the difference value obtained by subtracting the previous slope from the next slope of two adjacent elements in the segmented slope sequence is acquired, and the difference value is obtainedDenoted as gradient change uniformity of the segmented road, wherein +.>Representing the variance of all differences corresponding to the segment slope sequence of the segment road, +.>To avoid hyper-parameters with excessively small output values of the exponential function, +.>An exponential function that is based on a natural constant; obtaining the stripAnd (3) marking the average value of the slope change uniformity of each segmented road in the road as the bending change uniformity factor of the road.
8. The remote control method for road right distribution of unmanned vehicles in mining areas according to claim 7, wherein the steering factor of each side in the running tree structure of each mine car is obtained by the following steps:
according to the bending turning points in each road, the sectional slope sequences of the sectional roads and the slope change uniformity, the running tree structure of each mine car is combined to obtain a target running road and slope change average value, a reference running road and a steering angle of each side in the running tree structure of each mine car; the target driving road and the reference driving road are segmented roads;
;
wherein, the liquid crystal display device comprises a liquid crystal display device,steering factor representing any side of the traveling tree structure of any mine car, +.>Indicating the slope change uniformity of the target driving road on the side,/->Indicating the slope change uniformity of the reference driving road of the side, +.>Mean value of slope change of target driving road representing the side,/->Represents the steering angle of the edge +.>To avoid over-parametrics with excessively small output values of the exponential function.
9. The method for remotely controlling road right distribution of unmanned vehicles in mining areas according to claim 8, wherein the specific method for obtaining the target running road and the slope change mean value, the reference running road and the steering angle of each side in the running tree structure of each mine car comprises the following steps:
for any side in the running tree structure of any mine car, acquiring a first segmented road on a corresponding road from a corresponding father node of the side, and marking the first segmented road as a target running road of the side; acquiring the last edge of the edge in the running tree structure, and marking the last edge as a reference edge of the edge; acquiring a first segmented road on a corresponding road from a sub-node corresponding to a reference edge, and marking the first segmented road as a reference driving road of the edge; in a segmented slope sequence corresponding to a target driving road, subtracting the previous slope from the next slope to obtain a plurality of differences by two adjacent elements, and taking the absolute value of the average value of all the differences as the slope change average value of the target driving road;
and obtaining a tangent line of the target driving road corresponding to the bending turning point, and referring to the tangent line of the driving road corresponding to the bending turning point, wherein the included angle of the two tangent lines is used as the steering angle of the edge.
10. The remote control method for road right distribution of unmanned vehicles in mining areas according to claim 1, wherein the edge value of each edge in the traveling tree structure of each mine car is obtained by the following steps:
;
wherein, the liquid crystal display device comprises a liquid crystal display device,the limit value of any side in the running tree structure of any mine car is represented by +.>Alternative factors representing the edge, +.>Indicating the turning factor of the edge,/>Representing the bending factor of the road corresponding to the edge, +.>Indicating the curve change uniformity factor of the road to which the edge corresponds.
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