CN113655798B - Path planning method and system for multi-machine operation of road roller - Google Patents
Path planning method and system for multi-machine operation of road roller Download PDFInfo
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- 238000003825 pressing Methods 0.000 claims abstract description 39
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- 238000004590 computer program Methods 0.000 claims description 11
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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Abstract
The invention provides a path planning method and a system for multi-machine operation of a road roller, wherein the method comprises the following steps: first, a left and right boundary path is generated according to the center line information of the current construction area and a preset road width. And then, generating a plurality of intermediate paths parallel to the central line according to the left and right boundary paths, and extending the left and right boundary paths and the intermediate paths. And then, planning a lane changing path between adjacent paths and a lane changing path between left and right boundary paths according to the rolling direction of the road roller and the extended path. And finally, planning the driving paths of a plurality of road rollers according to the lane changing paths between the extended paths and the left and right boundary paths. The running path of the road roller planned by the invention meets the actual requirement of simultaneous operation of a plurality of road rollers, the operation path of the road roller can cover the whole road pressing area, and after the road pressing of the current operation area is completed, the road pressing operation path can enter the initial position of the next area to realize continuous operation, thereby realizing unmanned road pressing construction.
Description
Technical Field
The invention relates to the field of road construction, in particular to a linkage operation method and a linkage operation system of multi-machine engineering machinery such as a paver, a steel wheel road roller, a rubber wheel road roller and the like in the road construction process.
Background
The intelligent unmanned road roller is a development trend of construction industry, and the unmanned road roller is introduced into road compaction operation, so that all-weather construction efficiency and quality can be ensured, and production cost and potential safety hazards are reduced. Path planning is one of key technologies of unmanned road rollers, and a reasonable road pressing route is planned for the road rollers.
Some current unmanned road roller path planning methods cannot ensure that the planned road roller travel path covers the whole road pressing area; the running path of the road roller planned by some methods only can cover the current road pressing area, and cannot automatically enter the next road pressing area to continue operation. Therefore, the methods require the constructors to manually adjust the initial position of the road roller frequently, and cannot truly realize continuous road pressing operation. Other path planning methods are only suitable for the construction scene of one unmanned road roller, and the actual road construction often has the simultaneous operation of a plurality of road rollers.
In road construction, each road roller operation route must cover current road pressing area, after accomplishing current operation area, need enter into next district and carry out continuous operation, moreover need satisfy the scene that many road rollers were operated simultaneously. Therefore, a path planning method reasonably designed for multi-machine continuous operation of the road roller is needed to be truly applied to road construction.
Disclosure of Invention
The embodiment of the invention provides a path planning method and a path planning system for multi-machine operation of a road roller, solves the problems that the conventional method does not support multi-machine operation and cannot continuously operate, and is beneficial to realizing unmanned road pressing construction.
According to a first aspect of an embodiment of the present invention, there is provided a path planning method for multi-machine operation of a road roller, including:
step 1, generating a left boundary path and a right boundary path according to center line information of a current construction area and a preset road width;
step 2, generating a plurality of intermediate paths parallel to the central line according to the left and right boundary paths, and extending the left and right boundary paths and the intermediate paths;
Step 3, planning a lane changing path between adjacent paths and a lane changing path between left and right boundary paths according to the rolling direction of the road roller and the extended path;
and 4, planning the driving paths of a plurality of road rollers according to the lane changing paths between the extended paths and the left and right boundary paths.
Preferably, in step 1, the generating a left-right boundary path according to the center line information of the current construction area and a preset road width specifically includes:
The system reads the central line information of the current construction area, wherein the central line of the current construction area is formed by a series of discrete path points, and each path point is expressed as (x m,ym,θm,sm), and m=1, 2,3, … … and M; wherein x and y represent longitude and latitude, θ represents the direction of the path point, s represents the length of the path point, M represents the serial number of the center line path point in the construction area, and M represents the total number of the center line path points in the current construction area; thus, centerline path l center is denoted (x m,ym,θm,sm), m=1, 2,3, … …, M;
According to the central line information of the current construction area and the preset road width D, calculating the path points of the left and right boundaries respectively as follows: left boundary path l left is denoted (xL m,yLm), m=1, 2,3, … …, M; right boundary path l right is denoted (xR m,yRm), m=1, 2,3, … …, M; wherein xL, yL is the longitude and latitude of the left boundary path point; xR, yR is the longitude and latitude of the right boundary path point; xL, yL, xR, yR satisfy the following formulas, respectively:
wherein A is the width of the road roller.
Preferably, in step 2, a plurality of intermediate paths parallel to the center line are generated according to the left and right boundary paths, and specifically include:
Setting the number N of intermediate paths according to the road width and the road roller width, wherein N is a minimum positive integer not smaller than (D-A)/kA-1; wherein, a is the width of the road roller, k is a parameter set by a user, and k=2/3 is taken by default;
Generating N intermediate paths parallel to the central line according to the left and right boundary paths; the path point of the nth intermediate path l n (n=1, 2,3, … …, N) is denoted (xC nm,yCnm), m=1, 2,3, … …, M; wherein xC nm and yC nm represent the longitude and latitude, respectively, of the mth path point of the nth intermediate path; xC nm and yC nm each satisfy the following formula:
preferably, in step 2, the extending the left and right boundary paths and the middle path specifically includes:
According to the trend of the left and right boundary paths, the left and right boundary paths are extended backwards to obtain paths lr 0 and lr N+1 of which the left and right boundary paths extend backwards, the length of the backward extending path of the left and right boundary paths is d 1＝VB+(V-1)B0, and if d 1<d0, d 1＝d0 is taken; wherein V is the number of road rollers participating in construction, B is the length of the road rollers, B 0 is the safety distance between the front road roller and the rear road roller, and d 0 is the lane changing length; according to the trend of the intermediate path, the intermediate path is extended backwards to obtain a path lr 1、lr2、……、lrN with the intermediate path extended backwards, the length of the intermediate path extended backwards is d 2 =b, and if d 2<d0, d 2＝d0 is taken;
According to the rolling direction of the road roller, extending left and right boundary paths and a middle path forwards, wherein the forward extending paths are lf 0、lf1、lf2、……、lfN、lfN+1 respectively; if the rolling direction is from left to right, the extending lengths of the forward extending paths are 0, E, 2E, … …, NE, (N+1) E in sequence; if the rolling direction is from right to left, the extending lengths of the forward extending paths are (n+1) E, NE, … …, 2E, E, 0 in sequence; e is a forward extending distance parameter set by a user, and the default value is 0.5m.
Preferably, in step 3, a lane-changing path between adjacent paths is planned according to the rolling direction of the road roller and the extended path, and specifically includes:
If the rolling direction of the road roller is from left to right, sequentially setting a smooth curve S t to connect a path lr t and a path lr t+1, wherein t=0, 1,2, … … and N; wherein, the starting point of S t is a path point on the path lr t from the extension starting point d 0, and the end point of S t is an extension starting path point on the path lr t+1;
If the rolling direction of the road roller is from right to left, sequentially setting a smooth curve S t to connect a path lr t+1 and a path lr t, wherein t=N, N-1, … …,2,1,0; the starting point of S t is a path point on the path lr t+1 from the extension starting point d 0, and the end point of S t is an extension starting path point on the path lr t.
Preferably, in step 3, a lane-changing path between the left and right boundary paths is planned according to the rolling direction of the road roller and the extended path, and specifically includes:
If the rolling direction is from left to right, a smooth curve L 1 is set to connect the right boundary path L right and the left boundary path L left. Wherein the start point of L 1 is the start point of the right boundary path L right, and the end point of L 1 is the end point of the left boundary path L left; if the rolling direction is from right to left, a smooth curve L 2 is arranged to connect the left boundary path L left and the right boundary path L right; the start point of L 2 is the start point of the left boundary path L left, and the end point of L 2 is the end point of the right boundary path L right.
Preferably, in step 4, a driving path of the plurality of road rollers is planned according to the lane change path between the extended path and the left and right boundary paths, and specifically includes:
Planning the driving paths of a plurality of road rollers according to the extending path and the lane changing path between the left boundary path and the right boundary path, so that each road roller returns to the initial position after finishing one-pass road pressing operation on the left boundary path, the right boundary path and each intermediate path from the initial position; if the road rollers finish the road pressing operation of the current construction area, the running paths of the road rollers are continuously planned so that the road rollers can run to the initial position of the next operation area.
According to a second aspect of the embodiment of the present invention, there is also provided a path planning system for multi-machine operation of a road roller, including:
the path generation module is used for generating a left boundary path and a right boundary path according to the central line information of the current construction area and the preset road width;
The path extension module is used for generating a plurality of intermediate paths parallel to the central line according to the left and right boundary paths and extending the left and right boundary paths and the intermediate paths;
The lane change planning module is used for planning lane change paths between adjacent paths and lane change paths between left and right boundary paths according to the rolling direction of the road roller and the extended paths;
And the path planning module is used for planning the driving paths of the plurality of road rollers according to the lane changing paths between the extended paths and the left and right boundary paths.
According to a third aspect of an embodiment of the present invention, there is provided an electronic device including a processor, a memory, a communication interface, and a bus; the processor, the memory and the communication interface complete communication with each other through the bus; the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the path planning method of the multi-machine operation of the road roller provided by the embodiment of the first aspect.
According to a fourth aspect of embodiments of the present invention, there is provided a non-transitory computer readable storage medium storing a computer program which, when executed by a processor, is implemented to perform a path planning method for a road roller multi-machine job provided by the embodiments of the first aspect.
According to the path planning method and system for multi-machine operation of the road rollers, the planned driving path of the road rollers meets the actual requirement of simultaneous operation of a plurality of road rollers, the road roller operation route can cover the whole road pressing area, after the road pressing of the current operation area is completed, the road pressing operation route can enter the initial position of the next area, continuous operation is achieved, and therefore unmanned road pressing construction is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a path planning method for multi-machine operation of a road roller according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a generated left and right boundary path according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a generated intermediate path according to an embodiment of the present invention;
FIG. 4 (a) is a schematic view showing the rolling direction extending forward and backward from left to right according to the embodiment of the present invention;
FIG. 4 (b) is a schematic view showing the rolling direction extending from right to left in the forward and backward directions according to the embodiment of the present invention;
fig. 5 (a) is a schematic diagram illustrating generation of a variable road diameter between adjacent paths when the rolling direction of the road roller is from left to right according to the embodiment of the present invention;
FIG. 5 (b) is a schematic diagram illustrating the generation of a variable road diameter between adjacent paths from right to left in the rolling direction of the road roller according to the embodiment of the present invention;
FIG. 6 is a schematic view of a variable road diameter between left and right boundary paths when the rolling direction of the road roller is from left to right according to an embodiment of the present invention;
FIG. 7 is a schematic view of a road diameter change between left and right boundary paths when the rolling direction of the road roller is from right to left according to an embodiment of the present invention;
FIG. 8 is a block diagram of a path planning system for multi-machine operation of a road roller according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. 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.
At present, the existing road roller path planning method cannot ensure that the planned driving path of the road roller covers the whole road pressing area; the existing road roller path planning schemes mainly comprise the following two types, wherein the road roller path planned by one type of road roller path planning method only can cover the current construction area and cannot automatically enter the next road pressing area to continue operation, so that the methods require constructors to manually adjust the initial position of the road roller frequently and cannot truly realize continuous road pressing operation. Another road roller path planning method is only suitable for a scene of one unmanned road roller construction, and the actual road construction often has a plurality of road rollers to work simultaneously.
Aiming at the problems in the prior art, the embodiment of the invention provides a path planning method for multi-machine operation of a road roller, which solves the problems that the conventional method does not support multi-machine operation and cannot continuously operate, and realizes unmanned road pressing construction. The following description and description will be made with reference to the drawings by way of various embodiments.
Fig. 1 is a flow chart of a path planning method for multi-machine operation of a road roller according to an embodiment of the present invention, as shown in fig. 1, where the path planning method for multi-machine operation of a road roller according to an embodiment of the present invention includes, but is not limited to, the following steps:
and step 1, generating a left boundary path and a right boundary path according to the central line information of the current construction area and the preset road width.
fig. 2 is a schematic diagram of generating left and right boundary paths according to an embodiment of the present invention, and referring to fig. 2, as a possible implementation manner, in this embodiment, the system reads the center line information of the current construction area, where the center line of the current construction area is formed by a series of discrete path points, where each path point is denoted by (x m,ym,θm,sm), and m=1, 2,3, … …, M; wherein x and y represent longitude and latitude, θ represents the direction of the path point, s represents the length of the path point, M represents the serial number of the center line path point in the construction area, and M represents the total number of the center line path points in the current construction area; thus, centerline path l center is denoted (x m,ym,θm,sm), m=1, 2,3, … …, M;
According to the central line information of the current construction area and the preset road width D, calculating the path points of the left and right boundaries respectively as follows: left boundary path l left is denoted (xL m,yLm), m=1, 2,3, … …, M; right boundary path l right is denoted (xR m,yRm), m=1, 2,3, … …, M; wherein xL, yL is the longitude and latitude of the left boundary path point; xR, yR is the longitude and latitude of the right boundary path point; xL, yL, xR, yR satisfy the following formulas, respectively:
wherein A is the width of the road roller.
And 2, generating a plurality of intermediate paths parallel to the central line according to the left and right boundary paths, and extending the left and right boundary paths and the intermediate paths.
Fig. 3 is a schematic diagram of generating intermediate paths according to an embodiment of the present invention, referring to fig. 3, in this embodiment, first, according to a road width and a road roller width, the number N of intermediate paths is set, where N is a minimum positive integer not smaller than (D-a)/kA-1; wherein, a is the width of the road roller, k is a parameter set by a user, and k=2/3 is taken by default;
Generating N intermediate paths parallel to the central line according to the left and right boundary paths; wherein the path point of the nth intermediate path l n (n=1, 2,3, … …, N) represents (xC nm,yCnm), m=1, 2,3, … …, M; wherein xC nm and yC nm represent the longitude and latitude, respectively, of the mth path point of the nth intermediate path; xC nm and yC nm each satisfy the following formula:
and then, according to the actual construction requirement of the road roller, the length, the safety distance and the path trend of the road roller are considered, and the left and right boundary paths and the middle path are extended. Fig. 4 (a) is a schematic view of a rolling direction extending forward and backward from left to right, and fig. 4 (b) is a schematic view of a rolling direction extending forward and backward from right to left. Referring to fig. 4 (a) and 4 (b), the left and right boundary paths are extended backward according to the trend of the left and right boundary paths, so as to obtain paths lr 0 and lr N+1 in which the left and right boundary paths extend backward, the length of the path in which the left and right boundary paths extend backward is d 1＝VB+(V-1)B0, and if d 1<d0, d 1＝d0 is taken; wherein V is the number of road rollers participating in construction, B is the length of the road rollers, B 0 is the safety distance between the front road roller and the rear road roller, and d 0 is the lane changing length; according to the trend of the intermediate path, the intermediate path is extended backward, a path lr 1、lr2、……、lrN is obtained, the length of the intermediate path extended backward is d 2 =b, and if d 2<d0, d 2＝d0 is taken. According to the rolling direction of the road roller, the left and right boundary paths and the middle path extend forwards, and the forward extending paths are lf 0、lf1、lf2、……、lfN、lfN+1 respectively. If the rolling direction is from left to right, referring to fig. 4 (a), the extending lengths of the forward extending paths are 0, E, 2E, … …, NE, (n+1) E in order. If the rolling direction is from right to left, referring to fig. 4 (b), the extending lengths of the forward extending paths are (n+1) E, NE, … …, 2E, E, 0 in order; e is a forward extending distance parameter set by a user, and the default value is 0.5m.
And 3, planning a lane changing path between adjacent paths and a lane changing path between left and right boundary paths according to the rolling direction of the road roller and the extended path.
As a possible implementation manner, in step 3, according to the rolling direction of the road roller and the extended path, a lane-changing path between adjacent paths is planned, which specifically includes:
fig. 5 (a) is a schematic diagram of generation of a variable road diameter between adjacent paths when the rolling direction of the road roller is from left to right, and referring to fig. 5 (a), if the rolling direction of the road roller is from left to right, a smooth curve S t is sequentially set to connect a path lr t and a path lr t+1, t=0, 1,2, … …, N; the starting point of S t is a path point on the path lr t from the extension starting point d 0, and the end point of S t is an extension starting path point on the path lr t+1.
fig. 5 (b) is a schematic diagram generated by changing the road diameter between adjacent paths from right to left in the rolling direction of the road roller according to the embodiment of the present invention, referring to fig. 5 (b), if the rolling direction of the road roller is from right to left, a smooth curve S t is sequentially set to connect the path lr t+1 and the path lr t, t=n, N-1, … …,2,1,0; the starting point of S t is a path point on the path lr t+1 from the extension starting point d 0, and the end point of S t is an extension starting path point on the path lr t.
As a possible implementation manner, in step 3, according to the rolling direction of the road roller and the extended path, a lane-changing path between the left and right boundary paths is planned, which specifically includes:
Fig. 6 is a schematic view of a road diameter change between left and right boundary paths when the rolling direction of the road roller provided by the embodiment of the invention is from left to right, referring to fig. 6, if the rolling direction is from left to right, a smooth curve L 1 is set to connect the right boundary path L right and the left boundary path L left; the start point of L 1 is the start point of the right boundary path L right, and the end point of L 1 is the end point of the left boundary path L left.
Fig. 7 is a schematic view of a road roller with a rolling direction of from right to left and a changing road diameter between left and right boundary paths, and referring to fig. 7, if the rolling direction is from right to left, a smooth curve L 2 is set to connect the left boundary path L left and the right boundary path L right; the start point of L 2 is the start point of the left boundary path L left, and the end point of L 2 is the end point of the right boundary path L right.
And 4, planning the driving paths of a plurality of road rollers according to the lane changing paths between the extended paths and the left and right boundary paths.
In this embodiment, according to the extended path, the left and right boundary paths, and the lane-changing paths between the paths, the driving paths of the plurality of road rollers are planned, so that each road roller returns to the initial position after finishing one-pass road pressing operation on the left and right boundary paths and each intermediate path from the initial position; if the road rollers finish the road pressing operation of the current construction area, the running paths of the road rollers are continuously planned so that the road rollers can run to the initial position of the next operation area.
Referring to fig. 6, if the rolling direction is from left to right, the road roller starts from the initial position, and returns to the initial position after completing one-pass road pressing operation, the planned travel path of the road roller is ：lr0、lleft、lf0、lf0 -、lleft -、lr0 -、S0、l1、lf1、lf1 -、l1 -、lr1 -、S1、l2、lf2、lf2 -、l2 -、lr2 -、S2、……、SN、lright、lfN+1、lfN+1 -、lright -、lrN+1 -、lrN+1、L1、lleft -、lr0 -. in turn, and if multiple-pass road pressing operation is required, the planned travel path of the road roller is repeated; if the road pressing operation of the current area is completed, the planning path lr 0、lleft is continued to travel to the initial position of the next operation section.
Referring to fig. 7, if the rolling direction is from right to left, the road roller starts from the initial position, and returns to the initial position after completing one-pass road pressing operation, the planned travel path of the road roller is ：lrN+1、lright、lfN+1、lfN+1 -、lright -、lrN+1 -、SN、lN、lfN、lfN -、lN -、lrN -、SN-1、lN-1、lfN-1、lfN-1 -、lN-1 -、lrN-1 -、SN-2、……、S0、lleft、lf0、lf0 -、lleft -、lr0 -、lr0、L2、lright -、lrN+1 -. in turn, and if multiple-pass road pressing operation is required, the planned travel path of the road roller is repeated. If the road pressing operation of the current area is completed, the planning path lr N+1、lright is continued to travel to the initial position of the next operation section.
According to the path planning method for multi-machine operation of the road rollers, the planned driving path of the road rollers meets the actual requirement of simultaneous operation of a plurality of road rollers, the operation route of the road rollers can cover the whole road pressing area, after the road pressing of the current operation area is completed, the road pressing operation route can enter the initial position of the next area, continuous operation is achieved, and therefore unmanned road pressing construction is achieved.
In one embodiment, fig. 8 is a block diagram of a path planning method for multi-machine operation of a road roller according to an embodiment of the present invention, and referring to fig. 8, an embodiment of the present invention further provides a path planning system for multi-machine operation of a road roller, including:
The path generation module 801 is configured to generate a left-right boundary path according to the center line information of the current construction area and a preset road width;
A path extension module 802, configured to generate a plurality of intermediate paths parallel to the center line according to the left and right boundary paths, and extend the left and right boundary paths and the intermediate paths;
the lane change planning module 803 is configured to plan a lane change path between adjacent paths and a lane change path between left and right boundary paths according to a rolling direction of the road roller and the extended path;
The path planning module 804 is configured to plan a driving path of the plurality of road rollers according to the lane change path between the extended path and the left and right boundary paths.
It can be understood that the path planning system for multi-machine operation of the road roller provided by the invention corresponds to the path planning method for multi-machine operation of the road roller provided by the foregoing embodiments, and how to use the system to perform path planning for multi-machine operation of the road roller can refer to the relevant technical features of the path planning method for multi-machine operation of the road roller in the foregoing embodiments, which are not repeated herein.
In one embodiment, the embodiment of the present invention provides an electronic device, as shown in fig. 9, where the electronic device may include: processor 901, communication interface (Communications Interface) 902, memory 903 and communication bus 904, wherein processor 901, communication interface 902 and memory 903 communicate with each other via communication bus 904. Processor 901 may invoke logic instructions in memory 903 to perform the steps of the path planning method for multi-machine operation of the road roller provided in the above embodiments, including, for example: step 1, generating a left boundary path and a right boundary path according to center line information of a current construction area and a preset road width; step 2, generating a plurality of intermediate paths parallel to the central line according to the left and right boundary paths, and extending the left and right boundary paths and the intermediate paths; step 3, planning a lane changing path between adjacent paths and a lane changing path between left and right boundary paths according to the rolling direction of the road roller and the extended path; and 4, planning the driving paths of a plurality of road rollers according to the lane changing paths between the extended paths and the left and right boundary paths.
In one embodiment, the present invention further provides a non-transitory computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the path planning method for performing the multi-machine job of the road roller provided in the above embodiments, for example, including: step 1, generating a left boundary path and a right boundary path according to center line information of a current construction area and a preset road width; step 2, generating a plurality of intermediate paths parallel to the central line according to the left and right boundary paths, and extending the left and right boundary paths and the intermediate paths; step 3, planning a lane changing path between adjacent paths and a lane changing path between left and right boundary paths according to the rolling direction of the road roller and the extended path; and 4, planning the driving paths of a plurality of road rollers according to the lane changing paths between the extended paths and the left and right boundary paths.
In summary, the embodiment of the invention provides a path planning method and a system for multi-machine operation of a road roller, wherein the planned driving path of the road roller meets the actual requirement of simultaneous operation of a plurality of road rollers, the operation path of the road roller can cover the whole road pressing area, and after the road pressing of the current operation area is completed, the road pressing operation path can enter the initial position of the next area to realize continuous operation, thereby realizing unmanned road pressing construction.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (methods), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. The path planning method for the multi-machine operation of the road roller is characterized by comprising the following steps of:
step 1, generating a left boundary path and a right boundary path according to center line information of a current construction area and a preset road width;
step 2, generating a plurality of intermediate paths parallel to the central line according to the left and right boundary paths, and extending the left and right boundary paths and the intermediate paths;
Step 3, planning a lane changing path between adjacent paths and a lane changing path between left and right boundary paths according to the rolling direction of the road roller and the extended path;
step 4, planning the driving paths of a plurality of road rollers according to the lane changing paths between the extended paths and the left and right boundary paths;
In step 1, a left-right boundary path is generated according to the center line information of the current construction area and a preset road width, and the method specifically comprises the following steps:
The system reads the central line information of the current construction area, wherein the central line of the current construction area is formed by a series of discrete path points, and each path point is expressed as (x m,ym,θm,sm), and m=1, 2,3, … … and M; wherein x and y represent longitude and latitude, θ represents the direction of the path point, s represents the length of the path point, M represents the serial number of the center line path point in the construction area, and M represents the total number of the center line path points in the current construction area; thus, centerline path l center is denoted (x m,ym,θm,sm), m=1, 2,3, … …, M;
According to the central line information of the current construction area and the preset road width D, calculating the path points of the left and right boundaries respectively as follows: left boundary path l left is denoted (xL m,yLm), m=1, 2,3, … …, M; right boundary path l right is denoted (xR m,yRm), m=1, 2,3, … …, M; wherein xL, yL is the longitude and latitude of the left boundary path point; xR, yR is the longitude and latitude of the right boundary path point; xL, yL, xR, yR satisfy the following formulas, respectively:
Wherein A is the width of the road roller;
in step2, extending the left and right boundary paths and the middle path specifically includes:
According to the trend of the left and right boundary paths, the left and right boundary paths are extended backwards to obtain paths lr 0 and lr N+1 of which the left and right boundary paths extend backwards, the length of the backward extending path of the left and right boundary paths is d 1＝VB+(V-1)B0, and if d 1<d0, d 1＝d0 is taken; wherein V is the number of road rollers participating in construction, B is the length of the road rollers, B 0 is the safety distance between the front road roller and the rear road roller, and d 0 is the lane changing length; according to the trend of the intermediate path, the intermediate path is extended backwards to obtain a path lr 1、lr2、……、lrN with the intermediate path extended backwards, the length of the intermediate path extended backwards is d 2 =b, and if d 2<d0, d 2＝d0 is taken;
According to the rolling direction of the road roller, extending left and right boundary paths and a middle path forwards, wherein the forward extending paths are lf 0、lf1、lf2、……、lfN、lfN+1 respectively; if the rolling direction is from left to right, the extending lengths of the forward extending paths are 0, E, 2E, … …, NE, (N+1) E in sequence; if the rolling direction is from right to left, the extending lengths of the forward extending paths are (n+1) E, NE, … …, 2E, E, 0 in sequence; e is a forward extending distance parameter set by a user, and the default value is 0.5m.
2. The method for planning paths for multiple machine operations of road roller according to claim 1, wherein in step 2, a plurality of intermediate paths parallel to a center line are generated according to the left and right boundary paths, specifically comprising: setting the number N of intermediate paths according to the road width and the road roller width, wherein N is a minimum positive integer not smaller than (D-A)/kA-1; wherein, a is the width of the road roller, k is a parameter set by a user, and k=2/3 is taken by default; generating N intermediate paths parallel to the center line according to the left and right boundary paths, wherein a path point of an nth intermediate path l n (n=1, 2,3, … …, N) is denoted by (xC nm,yCnm), m=1, 2,3, … …, M; wherein xC nm and yC nm represent the longitude and latitude, respectively, of the mth path point of the nth intermediate path; xC nm and yC nm each satisfy the following formula:
3. The method for planning paths for multiple operations of a road roller according to claim 1, wherein in step 3, lane changing paths between adjacent paths are planned according to the rolling direction of the road roller and the extended paths, specifically comprising:
If the rolling direction of the road roller is from left to right, sequentially setting a smooth curve S t to connect a path lr t and a path lr t+1, wherein t=0, 1,2, … … and N; wherein, the starting point of S t is a path point on the path lr t from the extension starting point d 0, and the end point of S t is an extension starting path point on the path lr t+1;
If the rolling direction of the road roller is from right to left, sequentially setting a smooth curve S t to connect a path lr t+1 and a path lr t, wherein t=N, N-1, … …,2,1,0; the starting point of S t is a path point on the path lr t+1 from the extension starting point d 0, and the end point of S t is an extension starting path point on the path lr t.
4. The method for planning a path for multi-machine operation of a road roller according to claim 3, wherein in step 3, a lane-changing path between left and right boundary paths is planned according to a rolling direction of the road roller and the extended path, specifically comprising:
If the rolling direction is from left to right, a smooth curve L 1 is arranged to connect the right boundary path L right and the left boundary path L left; wherein the start point of L 1 is the start point of the right boundary path L right, and the end point of L 1 is the end point of the left boundary path L left; if the rolling direction is from right to left, a smooth curve L 2 is arranged to connect the left boundary path L left and the right boundary path L right; the start point of L 2 is the start point of the left boundary path L left, and the end point of L 2 is the end point of the right boundary path L right.
5. The method for planning a path for multiple road roller operations according to claim 4, wherein in step 4, a travel path for multiple road rollers is planned according to a lane change path between the extended path and the left and right boundary paths, specifically comprising:
Planning the driving paths of a plurality of road rollers according to the extending path and the lane changing path between the left boundary path and the right boundary path, so that each road roller returns to the initial position after finishing one-pass road pressing operation on the left boundary path, the right boundary path and each intermediate path from the initial position; if the road rollers finish the road pressing operation of the current construction area, the running paths of the road rollers are continuously planned so that the road rollers can run to the initial position of the next operation area.
6. A path planning system for multiple operations of a road roller, comprising:
the path generation module is used for generating a left boundary path and a right boundary path according to the central line information of the current construction area and the preset road width;
The path extension module is used for generating a plurality of intermediate paths parallel to the central line according to the left and right boundary paths and extending the left and right boundary paths and the intermediate paths;
The lane change planning module is used for planning lane change paths between adjacent paths and lane change paths between left and right boundary paths according to the rolling direction of the road roller and the extended paths;
The path planning module is used for planning the driving paths of a plurality of road rollers according to the lane changing paths between the extended paths and the left and right boundary paths;
generating a left boundary path and a right boundary path according to the central line information of the current construction area and the preset road width, wherein the method specifically comprises the following steps:
The system reads the central line information of the current construction area, wherein the central line of the current construction area is formed by a series of discrete path points, and each path point is expressed as (x m,ym,θm,sm), and m=1, 2,3, … … and M; wherein x and y represent longitude and latitude, θ represents the direction of the path point, s represents the length of the path point, M represents the serial number of the center line path point in the construction area, and M represents the total number of the center line path points in the current construction area; thus, centerline path l center is denoted (x m,ym,θm,sm), m=1, 2,3, … …, M;
According to the central line information of the current construction area and the preset road width D, calculating the path points of the left and right boundaries respectively as follows: left boundary path l left is denoted (xL m,yLm), m=1, 2,3, … …, M; right boundary path l right is denoted (xR m,yRm), m=1, 2,3, … …, M; wherein xL, yL is the longitude and latitude of the left boundary path point; xR, yR is the longitude and latitude of the right boundary path point; xL, yL, xR, yR satisfy the following formulas, respectively:
Wherein A is the width of the road roller;
extending the left and right boundary paths and the middle path specifically comprises:
According to the trend of the left and right boundary paths, the left and right boundary paths are extended backwards to obtain paths lr 0 and lr N+1 of which the left and right boundary paths extend backwards, the length of the backward extending path of the left and right boundary paths is d 1＝VB+(V-1)B0, and if d 1<d0, d 1＝d0 is taken; wherein V is the number of road rollers participating in construction, B is the length of the road rollers, B 0 is the safety distance between the front road roller and the rear road roller, and d 0 is the lane changing length; according to the trend of the intermediate path, the intermediate path is extended backwards to obtain a path lr 1、lr2、……、lrN with the intermediate path extended backwards, the length of the intermediate path extended backwards is d 2 =b, and if d 2<d0, d 2＝d0 is taken;
According to the rolling direction of the road roller, extending left and right boundary paths and a middle path forwards, wherein the forward extending paths are lf 0、lf1、lf2、……、lfN、lfN+1 respectively; if the rolling direction is from left to right, the extending lengths of the forward extending paths are 0, E, 2E, … …, NE, (N+1) E in sequence; if the rolling direction is from right to left, the extending lengths of the forward extending paths are (n+1) E, NE, … …, 2E, E, 0 in sequence; e is a forward extending distance parameter set by a user, and the default value is 0.5m.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor performs the steps of the path planning method of the multi-machine operation of the road roller as claimed in any one of claims 1 to 5 when the program is executed by the processor.
8. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor performs the steps of a path planning method of a road roller multi-machine job according to any one of claims 1 to 5.
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| CN114485610B (en) * | 2021-12-27 | 2023-07-18 | 广州极飞科技股份有限公司 | Vector map construction method and device and path planning method and device |
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