CN113741474A - Method and device for identifying parking area of unmanned mine car - Google Patents
Method and device for identifying parking area of unmanned mine car Download PDFInfo
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- 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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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
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Abstract
The invention relates to the technical field of unmanned driving, and particularly discloses a method and a device for identifying a parking area of an unmanned mine car, wherein the method comprises the steps of obtaining size data of a mine field and generating a scene model; generating mapping points according to the mine car position data, and inserting the mapping points into the scene model; acquiring a task linked list of a mine car, determining a working path of the mine car according to the task linked list, and determining a parking area according to the working path; a parking command containing the car number is received and a movement command is determined. According to the invention, a task linked list of the mine car is obtained, a mine car working path is determined according to the task linked list, and a parking area is determined according to the working path; the parking areas are dynamic areas determined in real time and related to the tasks of each mine car, the number of the dynamic areas is not unique, so that the mine cars needing to be parked can select the parking areas according to the distance, and the flexibility is extremely high.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a method and a device for identifying a parking area of an unmanned mine car.
Background
Research data show that under the theoretical state of reasonably considering relevant factors, 7 unmanned mine cars can replace the workload of at least 9 cars of the same type, the fuel oil cost is reduced by 6%, the tire wear is reduced by more than 7.5%, and the yield including labor cost saving is improved by 49%. Therefore, future mine cars will be transformed in the direction of unmanned driving.
Most mine cars require a period of rest after a period of operation during which they are operated, which requires a separate parking area, which is conventionally defined during mine planning and is static, which is inconvenient and less flexible for some mine cars that are located further from the parking area.
Disclosure of Invention
The invention aims to provide a method and a device for identifying a parking area of an unmanned mine car, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a method of identifying a parking area for an unmanned mining vehicle, the method comprising:
acquiring size data of a mine field, and generating a scene model according to a preset scale;
acquiring position data of a mine car, generating mapping points according to the position data of the mine car, and inserting the mapping points into the scene model; the mine car comprises mine cars, mapping points and mapping points, wherein the mapping points and the mine cars both contain numbers, the mapping points and the mine cars form a mapping relation, and the corresponding mapping points and the mine cars have the same numbers;
acquiring a task linked list of a mine car, determining a working path of the mine car according to the task linked list, and determining a parking area according to the working path;
receiving a parking instruction containing a mine car number, positioning a mapping point in a scene model according to the mine car number, determining a travel path according to the mapping point and the parking area, and determining a motion instruction according to the travel path and the working paths of other mine cars.
As a further limitation of the technical scheme of the invention: the steps of obtaining size data of a mine field and generating a scene model according to a preset scale comprise:
obtaining a planning scheme of a mine field, and determining a two-dimensional size according to the planning scheme to obtain an initial plane;
determining a sampling grid, and dividing the initial plane into sub-regions according to the sampling grid; wherein, the end point of the sub-region is the intersection point of the sampling grid;
and acquiring the altitude of the endpoint of the sub-area, and correcting the initial plane according to the altitude to obtain a scene model.
As a further limitation of the technical scheme of the invention: the step of obtaining the altitude of the endpoint of the sub-area and correcting the initial plane according to the altitude to obtain the scene model comprises the following steps:
acquiring the altitude of the end points of the sub-area, and calculating the maximum altitude difference of each end point;
determining a plane angle according to the maximum height difference and the edge distance of the sampling grid, and determining an actual area according to the plane angle;
calculating the variation amplitude according to the actual area and the sub-area, and adjusting the edge distance of the sampling grid according to the variation amplitude;
and determining a scene model according to the adjusted grids.
As a further limitation of the technical scheme of the invention: the steps of obtaining a task linked list of the mine car, determining a working path of the mine car according to the task linked list, and determining a parking area according to the working path comprise:
acquiring a task linked list of the mine car, reading task items in the task linked list, and determining a working position according to the task items;
dividing task items into subtask items according to the working positions, and inputting the subtask items into a trained duration analysis model to obtain the working time of each subtask item; wherein the subtask item includes a fixed position subtask and a motion subtask;
determining a working schedule according to the working time of each subtask item, reading a movement subtask in the working schedule, and generating a working path containing a start-stop moment according to the movement subtask;
the parking area is determined according to the working path of the different mine cars.
As a further limitation of the technical scheme of the invention: the step of receiving a parking command including a car number, locating a mapped point in a scene model based on the car number, and determining a path of travel based on the mapped point and the parking area includes:
receiving a parking instruction containing a mine car number, and acquiring size data of the mine car according to the mine car number;
dividing the parking area according to the size data to obtain a sub parking area;
sequentially calculating the distance between the sub-mooring areas and the mine car, and extracting the sub-mooring area with the minimum distance as a target area;
and determining a traveling path according to the target area.
As a further limitation of the technical scheme of the invention: the step of determining a travel path from the target area comprises:
positioning mapping points in a scene model according to the mine car numbers;
determining a central point of a target area, and acquiring position data of the central point;
determining a target point corresponding to the target area in the scene model according to a preset scale and the position data of the central point;
and inputting the target point and the mapping point into a trained path generation model to obtain a traveling path.
As a further limitation of the technical scheme of the invention: said determining movement instructions based on said path of travel and the path of travel of the other mine cars comprises:
acquiring heat source information in real time, positioning an independent target according to the heat source information, and acquiring the movement speed of the independent target;
reading the traveling speed in a traveling speed table according to the moving speed of the independent target; the travel speed table is a preset table and comprises a movement speed item and a travel speed item;
and correcting the motion instruction according to the traveling speed.
The technical scheme of the invention also provides a device for identifying the parking area of the unmanned mine car, which comprises the following components:
the scene model generation module is used for acquiring size data of a mine field and generating a scene model according to a preset scale;
the mapping point inserting module is used for acquiring position data of the mine car, generating mapping points according to the position data of the mine car and inserting the mapping points into the scene model; the mine car comprises mine cars, mapping points and mapping points, wherein the mapping points and the mine cars both contain numbers, the mapping points and the mine cars form a mapping relation, and the corresponding mapping points and the mine cars have the same numbers;
the system comprises a parking area determining module, a task chain table acquiring module, a parking area determining module and a parking area determining module, wherein the task chain table acquiring module is used for acquiring a task chain table of a mine car, determining a working path of the mine car according to the task chain table and determining the parking area according to the working path;
and the motion instruction determining module is used for receiving a parking instruction containing a mine car number, positioning a mapping point in a scene model according to the mine car number, determining a traveling path according to the mapping point and the parking area, and determining a motion instruction according to the traveling path and the working paths of other mine cars.
As a further limitation of the technical scheme of the invention: the scene model generation module comprises:
the initial plane generating unit is used for acquiring a planning scheme of a mine field, and determining a two-dimensional size according to the planning scheme to obtain an initial plane;
the dividing unit is used for determining a sampling grid and dividing the initial plane into sub-regions according to the sampling grid; wherein, the end point of the sub-region is the intersection point of the sampling grid;
and the correcting unit is used for acquiring the altitude of the endpoint of the sub-area and correcting the initial plane according to the altitude to obtain a scene model.
As a further limitation of the technical scheme of the invention: the correction unit includes:
the calculating subunit is used for acquiring the altitude of the endpoint of the sub-area and calculating the maximum altitude difference of each endpoint;
the back projection subunit is used for determining a plane angle according to the maximum height difference and the edge distance of the sampling grid and determining an actual area according to the plane angle;
the adjusting subunit is used for calculating variation amplitudes according to the actual areas and the sub-area areas and adjusting the edge distances of the sampling grids according to the variation amplitudes;
and the execution subunit is used for determining the scene model according to the adjusted grids.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, a task linked list of the mine car is obtained, a mine car working path is determined according to the task linked list, and a parking area is determined according to the working path; the parking areas are dynamic areas determined in real time and related to the tasks of each mine car, the number of the dynamic areas is not unique, so that the mine cars needing to be parked can select the parking areas according to the distance, and the flexibility is extremely high.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention.
FIG. 1 shows a block flow diagram of a method of identifying a parking area for an unmanned mining vehicle.
Fig. 2 shows a first sub-flow block diagram of a method of identifying a parking area for an unmanned mining vehicle.
Fig. 3 shows a second sub-flow diagram of the method of identifying the parking area of an unmanned mining vehicle.
FIG. 4 shows a third sub-flow diagram of a method of identifying a parking area for an unmanned mining vehicle.
FIG. 5 shows a fourth sub-flow diagram of a method of identifying a parking area for an unmanned mining vehicle.
FIG. 6 shows a fifth sub-flow diagram of a method of identifying a parking area for an unmanned mining vehicle.
FIG. 7 shows a sixth sub-flow diagram of a method of identifying a parking area for an unmanned mining vehicle.
Fig. 8 is a block diagram showing the constitution of the parking area recognition apparatus of the unmanned mine car.
Fig. 9 is a block diagram showing the configuration of the scene model generation module in the parking area recognition apparatus for the unmanned mining vehicle.
Fig. 10 is a block diagram showing a configuration of a correction unit in the scene model generation module.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
Fig. 1 is a block flow diagram showing a method for identifying a parking area of an unmanned mining vehicle, in an embodiment of the present invention, the method includes steps S100 to S400:
step S100: acquiring size data of a mine field, and generating a scene model according to a preset scale;
the mine field refers to the working place of a mine car, is an area, is not a narrow mine field, such as a field before mineral excavation, cannot determine whether mineral resources exist in the mine field, and naturally cannot be called as the mine field, but in exploration work, a mine machine is sometimes used, and correspondingly, the working area is also called as the mine field; the size of the mine field can be manually measured, a scene model can be generated according to a preset scale, the scene model is stored in a server in a data mode, and if the server comprises display equipment, the scene model can be displayed by means of some open-source display programs, so that workers can monitor the condition of the mine field in real time. The specific display link is based on the secondary development process of the invention, and is not described in detail herein.
Step S200: acquiring position data of a mine car, generating mapping points according to the position data of the mine car, and inserting the mapping points into the scene model; the mine car comprises mine cars, mapping points and mapping points, wherein the mapping points and the mine cars both contain numbers, the mapping points and the mine cars form a mapping relation, and the corresponding mapping points and the mine cars have the same numbers;
the scene model can be understood as a background, and only when dynamic points are added into the scene model, the scene model has practical significance; it will be readily appreciated that these points represent the location of each mine car, i.e. the aforementioned mapped points, and that the mapping between mine cars and mapped points is established by the mine car numbers.
It is worth mentioning that the position data preferably adopts relative positions, for example, a signal source is arranged at the center of the mine, which corresponds to the origin in the model, then the distance between the mine car and the signal source is obtained, the circle where the mine car is located can be determined, then a signal source is arranged at the position of the mine except the center, and the specific coordinates of the mine car can be determined; the second source is typically located at a boundary location of the mine.
Step S300: acquiring a task linked list of a mine car, determining a working path of the mine car according to the task linked list, and determining a parking area according to the working path;
the above is intended to define a parking area, which is also the innovative point of the present invention, and which is defined by the fact that conventional parking areas are pre-defined, defining a pre-determined area as the parking area, but the present invention is intended to define the parking area based on the operation of other mine cars, for example, if there are only two cars in operation in a mine, and the location adjustment time of the cars is short, and most of the time is in operation at a fixed location, then the parking area is the route through the mine, except for those two cars. It can be seen that the parking area is determined from two dimensions, space and time, which greatly increases the flexibility of identification of the parking area. This has the advantage of allowing each mine car to select a parking area in close proximity to the parking time, improving the coordination of the mine work.
Step S400: receiving a parking instruction containing a mine car number, positioning a mapping point in a scene model according to the mine car number, determining a traveling path according to the mapping point and the parking area, and determining a motion instruction according to the traveling path and working paths of other mine cars;
step S400 is an interactive process, the parking instruction can be sent by a user or generated by some programs of the system itself, for example, after the mine car continuously works for 4 hours, a parking instruction is generated to let the mine car rest for a period of time; as for how the mine car goes to the parking area, the content of the field of automatic driving can be completed by the prior art, and only the simplest obstacle avoidance function is needed.
It is worth mentioning that the technical solution of the present invention does not conflict with the conventional technical solution, in the technical solution of the present invention, a parking area is also set artificially, which is done to prevent the mine car from being "full" due to too many working mine cars, and of course, this situation hardly occurs due to too large size difference between the mine car and the mine.
Fig. 2 shows a first sub-flow diagram of a method for identifying a parking area of an unmanned mining vehicle, wherein the step of acquiring size data of a mine site and generating a scene model according to a preset scale comprises steps S101 to S103:
step S101: obtaining a planning scheme of a mine field, and determining a two-dimensional size according to the planning scheme to obtain an initial plane;
step S102: determining a sampling grid, and dividing the initial plane into sub-regions according to the sampling grid; wherein, the end point of the sub-region is the intersection point of the sampling grid;
step S103: and acquiring the altitude of the endpoint of the sub-area, and correcting the initial plane according to the altitude to obtain a scene model.
Steps S101 to S103 provide a specific scene model generation process, wherein the emphasis is to correct the initial plane according to the altitude; it is envisaged that the plan view between the sloping ground and the surface is the same, but the path taken by the mine car is different, and therefore the above provides a correction step; the correction process is mathematically a simple trigonometric function application problem, is not difficult to implement, and is not repeated in the invention.
Fig. 3 shows a second sub-flow diagram of the method for identifying the parking area of the unmanned mining vehicle, wherein the step of obtaining the altitude at the end point of the sub-area and correcting the initial plane according to the altitude to obtain the scene model comprises steps S1031 to S1034:
step S1031: acquiring the altitude of the end points of the sub-area, and calculating the maximum altitude difference of each end point;
step S1032: determining a plane angle according to the maximum height difference and the edge distance of the sampling grid, and determining an actual area according to the plane angle;
step S1033: calculating the variation amplitude according to the actual area and the sub-area, and adjusting the edge distance of the sampling grid according to the variation amplitude;
step S1034: and determining a scene model according to the adjusted grids.
In the above, the larger the sampling grid, the more accurate the correction process. It is worth mentioning that the variation range can be directly determined by determining the plane angle according to the maximum height difference and the edge distance of the sampling grid, but the area is calculated firstly, if the calculation method is a pure theoretical type, the results of the two calculation methods are almost equal, but in the actual process, the variation range is calculated through the area more directly and more accurately.
Fig. 4 shows a third sub-flow diagram of a method for identifying a parking area of an unmanned mining vehicle, wherein a task linked list of the mining vehicle is obtained, a working path of the mining vehicle is determined according to the task linked list, and the step of determining the parking area according to the working path comprises steps S301 to S304:
step S301: acquiring a task linked list of the mine car, reading task items in the task linked list, and determining a working position according to the task items;
step S302: dividing task items into subtask items according to the working positions, and inputting the subtask items into a trained duration analysis model to obtain the working time of each subtask item; wherein the subtask item includes a fixed position subtask and a motion subtask;
step S303: determining a working schedule according to the working time of each subtask item, reading a movement subtask in the working schedule, and generating a working path containing a start-stop moment according to the movement subtask;
step S304: the parking area is determined according to the working path of the different mine cars.
S301 to S304 are the process of determining the parking area, the core of which is the classification of the tasks of the mine cars, and the tasks of the mine cars have two types, namely, the mine cars are parked at a certain position to carry out the work like loading and unloading, and the mine cars move among various stations; the object of the invention is to determine a dynamic parking area that changes in real time, thus requiring a specific subdivision of the task from the time dimension.
Fig. 5 shows a fourth sub-flow block diagram of a method of identifying a parking area for unmanned mine cars, said method comprising receiving a parking instruction including a car number, locating a mapped point in a scene model based on said car number, and determining a path of travel based on said mapped point and said parking area comprising steps S401 to S404:
step S401: receiving a parking instruction containing a mine car number, and acquiring size data of the mine car according to the mine car number;
step S402: dividing the parking area according to the size data to obtain a sub parking area;
step S403: sequentially calculating the distance between the sub-mooring areas and the mine car, and extracting the sub-mooring area with the minimum distance as a target area;
step S404: and determining a traveling path according to the target area.
Steps S401 to S404 are specific refinements of the path of travel, and it is envisaged that the parking area must be larger than the car size, and it is the location of the parking area that the car specifically reaches that is the question to be solved.
Fig. 6 shows a fifth sub-flowchart of the parking area identifying method of the unmanned mine car, the step of determining the travel path according to the target area including steps S4041 to S4044:
step S4041: positioning mapping points in a scene model according to the mine car numbers;
step S4042: determining a central point of a target area, and acquiring position data of the central point;
step S4043: determining a target point corresponding to the target area in the scene model according to a preset scale and the position data of the central point;
step S4044: and inputting the target point and the mapping point into a trained path generation model to obtain a traveling path.
The planning process of the advancing path is completed by means of a scene model, and the path planning is based on the premise that a starting point and a terminal point are arranged in the scene model and correspond to a mapping point and a target point; inputting the target point and the mapping point into a trained path generation model to obtain a traveling path; under the condition that the path generating model has no other influence, the obtained travelling path is a straight line; however, in practical use, the method is influenced by other factors, such as road surface conditions, fixed obstacles and the like, which are determined according to specific conditions, and the trained path generating model is obtained by adding the influences into the path generating model through some simple algorithms.
FIG. 7 shows a sixth sub-flow diagram of a method of identifying a parking area for unmanned mining vehicles, said determining movement instructions based on said path of travel and the path of operation of other mining vehicles comprising:
step S405: acquiring heat source information in real time, positioning an independent target according to the heat source information, and acquiring the movement speed of the independent target;
step S406: reading the traveling speed in a traveling speed table according to the moving speed of the independent target; the travel speed table is a preset table and comprises a movement speed item and a travel speed item;
step S407: and correcting the motion instruction according to the traveling speed.
Step S405 to step S407 are also an improvement point of the technical solution of the present invention; the existing roadblock detection technology is to obtain obstacles through a distance meter and then avoid the obstacles, in the technical scheme of the invention, a traveling path is determined, in the process of determining the traveling path, fixed obstacles are avoided, when other movable obstacles are met, a mine car takes an instruction of stopping avoiding, and in the scheme, speed is adjusted.
Example 2
Fig. 8 is a block diagram showing the constitution of a parking area recognition apparatus for an unmanned mining vehicle, in an embodiment of the present invention, there is provided a parking area recognition apparatus for an unmanned mining vehicle, the apparatus 10 comprising:
the scene model generation module 11 is used for acquiring size data of a mine field and generating a scene model according to a preset scale;
the mapping point inserting module 12 is used for acquiring position data of the mine car, generating mapping points according to the position data of the mine car, and inserting the mapping points into the scene model; the mine car comprises mine cars, mapping points and mapping points, wherein the mapping points and the mine cars both contain numbers, the mapping points and the mine cars form a mapping relation, and the corresponding mapping points and the mine cars have the same numbers;
the parking area determining module 13 is used for acquiring a task linked list of the mine car, determining a working path of the mine car according to the task linked list, and determining a parking area according to the working path;
a motion order determination module 14 for receiving a parking order including a car number, locating a mapped point in a scene model based on the car number, determining a path of travel based on the mapped point and the parking area, and determining a motion order based on the path of travel and the path of travel of other cars.
Fig. 9 is a block diagram showing the configuration of a scene model generation module in the parking area recognition apparatus for the unmanned mining vehicle, the scene model generation module 11 including:
the initial plane generating unit 111 is configured to obtain a planning scheme of a mine site, and determine a two-dimensional size according to the planning scheme to obtain an initial plane;
a dividing unit 112, configured to determine a sampling grid, and divide the initial plane into sub-regions according to the sampling grid; wherein, the end point of the sub-region is the intersection point of the sampling grid;
and the correcting unit 113 is configured to obtain an altitude at an endpoint of the sub-area, and correct the initial plane according to the altitude to obtain a scene model.
Fig. 10 is a block diagram illustrating a structure of a modifying unit in the scene model generating module, where the modifying unit 113 includes:
a calculating subunit 1131, configured to obtain the elevation at the end points of the sub-region, and calculate the maximum height difference of each end point;
the back projection subunit 1132 is configured to determine a plane angle according to the maximum height difference and the edge distance of the sampling grid, and determine an actual area according to the plane angle;
an adjusting subunit 1133, configured to calculate a variation range according to the actual area and the sub-area, and adjust the edge distance of the sampling grid according to the variation range;
an executing subunit 1134, configured to determine a scene model according to the adjusted mesh.
The functions that can be performed by the method for identifying a parking area of an unmanned mining vehicle are performed by a computer device that includes one or more processors and one or more memories having at least one program code stored therein that is loaded and executed by the one or more processors to perform the functions of the method for identifying a parking area of an unmanned mining vehicle.
The processor fetches instructions and analyzes the instructions one by one from the memory, then completes corresponding operations according to the instruction requirements, generates a series of control commands, enables all parts of the computer to automatically, continuously and coordinately act to form an organic whole, realizes the input of programs, the input of data, the operation and the output of results, and the arithmetic operation or the logic operation generated in the process is completed by the arithmetic unit; the Memory comprises a Read-Only Memory (ROM) for storing a computer program, and a protection device is arranged outside the Memory.
Illustratively, a computer program can be partitioned into one or more modules, which are stored in memory and executed by a processor to implement the present invention. One or more of the modules may be a series of computer program instruction segments capable of performing certain functions, which are used to describe the execution of the computer program in the terminal device.
Those skilled in the art will appreciate that the above description of the service device is merely exemplary and not limiting of the terminal device, and may include more or less components than those described, or combine certain components, or different components, such as may include input output devices, network access devices, buses, etc.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is the control center of the terminal equipment and connects the various parts of the entire user terminal using various interfaces and lines.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the terminal device by operating or executing the computer programs and/or modules stored in the memory and calling data stored in the memory. The memory mainly comprises a storage program area and a storage data area, wherein the storage program area can store an operating system, application programs (such as an information acquisition template display function, a product information publishing function and the like) required by at least one function and the like; the storage data area may store data created according to the use of the berth-state display system (e.g., product information acquisition templates corresponding to different product types, product information that needs to be issued by different product providers, etc.), and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The terminal device integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the modules/units in the system according to the above embodiment may be implemented by a computer program, which may be stored in a computer-readable storage medium and used by a processor to implement the functions of the embodiments of the system. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method of identifying a parking area for an unmanned mining vehicle, the method comprising:
acquiring size data of a mine field, and generating a scene model according to a preset scale;
acquiring position data of a mine car, generating mapping points according to the position data of the mine car, and inserting the mapping points into the scene model; the mine car comprises mine cars, mapping points and mapping points, wherein the mapping points and the mine cars both contain numbers, the mapping points and the mine cars form a mapping relation, and the corresponding mapping points and the mine cars have the same numbers;
acquiring a task linked list of a mine car, determining a working path of the mine car according to the task linked list, and determining a parking area according to the working path;
receiving a parking instruction containing a mine car number, positioning a mapping point in a scene model according to the mine car number, determining a travel path according to the mapping point and the parking area, and determining a motion instruction according to the travel path and the working paths of other mine cars.
2. The method for identifying a parking area of an unmanned mining vehicle as claimed in claim 1, wherein the step of acquiring size data of a mine site and generating a scene model according to a preset scale comprises:
obtaining a planning scheme of a mine field, and determining a two-dimensional size according to the planning scheme to obtain an initial plane;
determining a sampling grid, and dividing the initial plane into sub-regions according to the sampling grid; wherein, the end point of the sub-region is the intersection point of the sampling grid;
and acquiring the altitude of the endpoint of the sub-area, and correcting the initial plane according to the altitude to obtain a scene model.
3. The method of claim 2, wherein the step of obtaining the elevation at the end of the sub-area and modifying the initial plane based on the elevation to obtain the scene model comprises:
acquiring the altitude of the end points of the sub-area, and calculating the maximum altitude difference of each end point;
determining a plane angle according to the maximum height difference and the edge distance of the sampling grid, and determining an actual area according to the plane angle;
calculating the variation amplitude according to the actual area and the sub-area, and adjusting the edge distance of the sampling grid according to the variation amplitude;
and determining a scene model according to the adjusted grids.
4. The method of claim 1, wherein said obtaining a task list of mine cars, determining a mine car work path based on said task list, and determining a parking area based on said work path comprises:
acquiring a task linked list of the mine car, reading task items in the task linked list, and determining a working position according to the task items;
dividing task items into subtask items according to the working positions, and inputting the subtask items into a trained duration analysis model to obtain the working time of each subtask item; wherein the subtask item includes a fixed position subtask and a motion subtask;
determining a working schedule according to the working time of each subtask item, reading a movement subtask in the working schedule, and generating a working path containing a start-stop moment according to the movement subtask;
the parking area is determined according to the working path of the different mine cars.
5. The unmanned mining vehicle parking area identification method of claim 1, wherein the step of receiving a parking command including a mine vehicle number, locating a mapped point in a scene model based on the mine vehicle number, and determining a travel path based on the mapped point and the parking area comprises:
receiving a parking instruction containing a mine car number, and acquiring size data of the mine car according to the mine car number;
dividing the parking area according to the size data to obtain a sub parking area;
sequentially calculating the distance between the sub-mooring areas and the mine car, and extracting the sub-mooring area with the minimum distance as a target area;
and determining a traveling path according to the target area.
6. The method of claim 5, wherein the step of determining a travel path based on the target area comprises:
positioning mapping points in a scene model according to the mine car numbers;
determining a central point of a target area, and acquiring position data of the central point;
determining a target point corresponding to the target area in the scene model according to a preset scale and the position data of the central point;
and inputting the target point and the mapping point into a trained path generation model to obtain a traveling path.
7. The unmanned mining vehicle parking area identification method of claim 6, wherein said determining movement instructions based on the path of travel and the path of other mining vehicles comprises:
acquiring heat source information in real time, positioning an independent target according to the heat source information, and acquiring the movement speed of the independent target;
reading the traveling speed in a traveling speed table according to the moving speed of the independent target; the travel speed table is a preset table and comprises a movement speed item and a travel speed item;
and correcting the motion instruction according to the traveling speed.
8. An apparatus for identifying a parking area of an unmanned mining vehicle, the apparatus comprising:
the scene model generation module is used for acquiring size data of a mine field and generating a scene model according to a preset scale;
the mapping point inserting module is used for acquiring position data of the mine car, generating mapping points according to the position data of the mine car and inserting the mapping points into the scene model; the mine car comprises mine cars, mapping points and mapping points, wherein the mapping points and the mine cars both contain numbers, the mapping points and the mine cars form a mapping relation, and the corresponding mapping points and the mine cars have the same numbers;
the system comprises a parking area determining module, a task chain table acquiring module, a parking area determining module and a parking area determining module, wherein the task chain table acquiring module is used for acquiring a task chain table of a mine car, determining a working path of the mine car according to the task chain table and determining the parking area according to the working path;
and the motion instruction determining module is used for receiving a parking instruction containing a mine car number, positioning a mapping point in a scene model according to the mine car number, determining a traveling path according to the mapping point and the parking area, and determining a motion instruction according to the traveling path and the working paths of other mine cars.
9. The unmanned mining vehicle parking area identification apparatus of claim 8, wherein the scene model generation module comprises:
the initial plane generating unit is used for acquiring a planning scheme of a mine field, and determining a two-dimensional size according to the planning scheme to obtain an initial plane;
the dividing unit is used for determining a sampling grid and dividing the initial plane into sub-regions according to the sampling grid; wherein, the end point of the sub-region is the intersection point of the sampling grid;
and the correcting unit is used for acquiring the altitude of the endpoint of the sub-area and correcting the initial plane according to the altitude to obtain a scene model.
10. The apparatus for identifying a parking area of an unmanned mining vehicle according to claim 9, wherein the correction unit includes:
the calculating subunit is used for acquiring the altitude of the endpoint of the sub-area and calculating the maximum altitude difference of each endpoint;
the back projection subunit is used for determining a plane angle according to the maximum height difference and the edge distance of the sampling grid and determining an actual area according to the plane angle;
the adjusting subunit is used for calculating variation amplitudes according to the actual areas and the sub-area areas and adjusting the edge distances of the sampling grids according to the variation amplitudes;
and the execution subunit is used for determining the scene model according to the adjusted grids.
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