A geological exploration path planning method, device and equipment and a storage medium

Abstract

This invention relates to the field of geological exploration technology. It discloses a method, apparatus, equipment, and storage medium for geological exploration path planning. The method includes acquiring basic data of the area to be explored and extracting topological features from the basic data to obtain a regional topology map; performing constraint analysis based on the regional topology map to obtain a constraint quantification lookup table; constructing a node connectivity network based on the constraint quantification lookup table; using the node connectivity network as a search vehicle, performing a multi-objective path search for the exploration target to obtain a set of multi-objective candidate paths; resolving conflicts in the multi-objective candidate path set to obtain a set of compliant paths; scoring all paths in the compliant path set based on preset evaluation criteria, and determining the path with the highest score as the optimal geological exploration path. This invention performs path planning based on regional topology analysis and constraint quantification, generating an optimal geological exploration path that balances target coverage integrity and path compliance.

Description

Technical Field

[0001] This invention relates to the field of geological exploration technology, and in particular to a geological exploration route planning method, apparatus, equipment and storage medium. Background Technology

[0002] In geological exploration operations, route planning is a key link to ensure operational efficiency and safety. Existing geological exploration route planning technologies mostly rely on the experience of staff for manual planning or generate routes through simple route search algorithms. This makes it easy for the planned routes to conflict with objective conditions such as terrain and environment in the area, making it difficult to balance the completeness of exploration target coverage and route compliance, ultimately affecting the efficiency of exploration operations. Summary of the Invention

[0003] To overcome the shortcomings of existing technologies, the present invention aims to provide a geological exploration path planning method, apparatus, equipment, and storage medium. Based on a path planning system of regional topology analysis and constraint quantification, the present invention generates optimal geological exploration paths that take into account both target coverage integrity and path compliance. This solves the problems of strong subjectivity and easy conflict with objective conditions in existing path planning technologies, realizes the precision of geological exploration path planning, and effectively improves the efficiency of exploration operations.

[0004] The first aspect of this invention provides a geological exploration path planning method, which includes the following steps: acquiring basic data of the area to be explored and extracting topological features from the basic data to obtain a regional topology map; performing constraint analysis based on the regional topology map to obtain a constraint quantification comparison table; filtering nodes and constructing connectivity relationships based on the constraint quantification comparison table to obtain a node connectivity network; defining exploration targets in the area to be explored and performing multi-target path search on the exploration targets using the node connectivity network as the search carrier to obtain a multi-target candidate path set; resolving conflicts in the multi-target candidate path set to obtain a compliant path set; scoring all paths in the compliant path set based on preset evaluation criteria, and determining the path with the highest score as the optimal geological exploration path.

[0005] Optionally, in a first implementation of the first aspect of the present invention, the step of acquiring basic data of the area to be explored and extracting topological features from the basic data to obtain a regional topological structure map includes: acquiring basic data of the area to be explored; extracting topological features from the basic data to obtain topographic inflection points, water system distribution lines, potential passageways, regional boundary lines, and key geographical landmarks of the area to be explored; and generating a regional topological structure map using key geographical landmarks and topographic inflection points as nodes, potential passageways as connecting channels, and water system distribution lines and regional boundary lines as spatial boundaries.

[0006] Optionally, in a second implementation of the first aspect of the present invention, the constraint analysis based on the regional topology map to obtain a constraint quantification comparison table includes: presetting rigid constraint conditions and flexible constraint conditions based on the actual environmental requirements and exploration operation needs of the area to be explored; matching the rigid constraint conditions and flexible constraint conditions with the nodes and connecting channels in the regional topology map to generate a constraint quantification comparison table.

[0007] Optionally, in a third implementation of the first aspect of the present invention, the step of selecting nodes and constructing connectivity relationships based on the constraint quantization lookup table to obtain a node connectivity network includes: selecting nodes and connection channels that simultaneously satisfy rigid and flexible constraint conditions from the constraint quantization lookup table to obtain qualified nodes and qualified channels; and constructing a node connectivity network based on the qualified nodes and qualified channels.

[0008] Optionally, in a fourth implementation of the first aspect of the present invention, the step of delineating exploration targets in the area to be explored and performing multi-target path search on the exploration targets using a node connectivity network as the search carrier to obtain a set of multi-target candidate paths includes: delineating exploration targets in the area to be explored; using a node connectivity network as the basic carrier for path search, performing multi-target path search on the exploration targets based on a preset exploration order to generate feasible paths covering all exploration targets; and integrating all feasible paths to obtain a set of multi-target candidate paths.

[0009] Optionally, in a fifth implementation of the first aspect of the present invention, the step of resolving conflicts in the multi-objective candidate path set to obtain a compliant path set includes: performing conflict screening on all paths within the multi-objective candidate path set to identify conflict path groups with conflicts and conflict-free path groups without conflicts; adjusting the conflict path groups based on the principle of optimal comprehensive exploration benefits without interfering with the conflict-free path groups to obtain an optimized path group; and integrating the optimized path group and the conflict-free path group to obtain a compliant path set.

[0010] Optionally, in the sixth implementation of the first aspect of the present invention, the step of scoring all paths in the set of compliant paths based on a preset evaluation standard and determining the path with the highest score as the optimal geological exploration path includes: performing exploration operation simulation and generating simulation results for all paths in the set of compliant paths; scoring the simulation results of each path based on the preset evaluation standard and determining the path with the highest score as the optimal geological exploration path; if there are multiple paths with the same highest score, then the shortest path is selected as the optimal geological exploration path.

[0011] A second aspect of the present invention provides a geological exploration path planning device, comprising: an extraction module for acquiring basic data of the area to be explored and extracting topological features from the basic data to obtain a regional topological structure map; a constraint module for performing constraint analysis based on the regional topological structure map to obtain a constraint quantification lookup table; a construction module for performing node screening and connectivity construction based on the constraint quantification lookup table to obtain a node connectivity network; a search module for defining exploration targets in the area to be explored and performing multi-target path search on the exploration targets using the node connectivity network as the search carrier to obtain a multi-target candidate path set; a conflict resolution module for resolving conflicts in the multi-target candidate path set to obtain a compliant path set; and a scoring module for scoring all paths in the compliant path set based on preset evaluation criteria and determining the path with the highest score as the optimal geological exploration path.

[0012] A third aspect of the present invention provides a geological exploration path planning device, the geological exploration path planning device comprising: a memory and at least one processor, the memory storing instructions; at least one processor calling the instructions in the memory to cause the computer device to execute the various steps of any of the above-described geological exploration path planning methods.

[0013] A fourth aspect of the present invention provides a computer-readable storage medium storing instructions that, when executed by a processor, implement the steps of any of the above-described geological exploration path planning methods.

[0014] In the technical solution of this invention, firstly, basic data of the area to be explored is acquired and topological features are extracted to characterize the terrain, channels, and boundaries within the area, resulting in a regional topological structure map. This provides comprehensive data for subsequent path planning and improves the completeness of exploration target coverage. Then, constraint analysis is conducted based on the regional topological structure map to obtain a constraint quantification comparison table, which quantifies and defines various constraints for exploration operations, avoiding the subjectivity of manual experience-based judgment. Next, node screening and connectivity relationship construction are performed based on the constraint quantification comparison table to generate a node connectivity network, ensuring that all nodes and connectivity relationships conform to operational constraints. Subsequently, multi-target path search is conducted using the node connectivity network as a carrier to generate a multi-target candidate path set. Then, by resolving conflicts in the multi-target candidate path set, issues such as path overlap and redundancy are addressed, resulting in a compliant path set. Finally, the optimal geological exploration path is determined from the compliant path set based on preset evaluation criteria. This invention, based on a path planning system of regional topological analysis and constraint quantification, generates an optimal geological exploration path that balances target coverage completeness and path compliance. It solves the problems of strong subjectivity and easy conflict with objective conditions in existing path planning technologies, achieving precise geological exploration path planning and effectively improving the efficiency of exploration operations. Attached Figure Description

[0015] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a first flowchart of a geological exploration path planning method provided in an embodiment of the present invention; Figure 2 This is a second flowchart of a geological exploration path planning method provided in an embodiment of the present invention; Figure 3 This is a third flowchart of the geological exploration path planning method provided in the embodiments of the present invention; Figure 4 This is a fourth flowchart of the geological exploration path planning method provided in the embodiments of the present invention; Figure 5 This is a fifth flowchart of the geological exploration path planning method provided in the embodiments of the present invention; Figure 6 This is a sixth flowchart of the geological exploration path planning method provided in the embodiments of the present invention; Figure 7 This is the seventh flowchart of the geological exploration path planning method provided in the embodiments of the present invention; Figure 8 This is a schematic diagram of the geological exploration path planning device provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the geological exploration path planning equipment provided in an embodiment of the present invention. Detailed Implementation

[0016] This invention provides a geological exploration path planning method, apparatus, equipment, and storage medium. Based on a path planning system of regional topology analysis and constraint quantification, it generates optimal geological exploration paths that take into account both target coverage integrity and path compliance. This solves the problems of strong subjectivity and easy conflict with objective conditions in existing path planning technologies, realizes the precision of geological exploration path planning, and effectively improves the efficiency of exploration operations.

[0017] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" or "having" and any variations thereof are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0018] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 1 One embodiment of the geological exploration path planning method in this invention includes: The geological exploration route planning method includes the following steps: 101. Obtain basic data of the area to be explored, and extract topological features from the basic data to obtain a topological structure map of the area; In this embodiment, basic data such as topography, remote sensing, water system, and geological conditions of the area to be explored are first collected. Then, core topological features such as topographic inflection points, water system distribution lines, and potential passageways are extracted from the basic data. Finally, a regional topological structure map reflecting the spatial relationship of the region is constructed based on the topological features.

[0019] 102. Perform constraint analysis based on the regional topology diagram to obtain a constraint quantification comparison table; In this embodiment, rigid constraints such as ecological protection and safe operation are set, and flexible constraints such as operation cost and traffic efficiency are set, taking into account the environmental requirements of the area to be explored and the needs of exploration operations. Then, the two types of constraints are matched with the nodes and channels in the regional topology map to form a constraint quantification comparison table.

[0020] 103. Based on the aforementioned constraint quantization lookup table, perform node screening and connectivity construction to obtain a node connectivity network; In this embodiment, qualified nodes and qualified channels that simultaneously satisfy rigid and flexible constraints are selected based on the constraint quantification comparison table. Then, a structured node connectivity network is constructed with qualified nodes as the core and qualified channels as the connection carriers.

[0021] 104. Delineate exploration targets in the area to be explored, and use the node connectivity network as the search carrier to perform multi-target path search for the exploration targets to obtain a set of multi-target candidate paths; In this embodiment, based on the needs of the exploration task, exploration targets such as sampling points and detection points are delineated in the area to be explored and mapped to the node connectivity network. Then, based on the preset exploration sequence, multi-target path search is carried out using the node connectivity network as the carrier to select multiple feasible paths that can cover all exploration targets. After integration, a multi-target candidate path set is formed.

[0022] 105. Conflict resolution is performed on the multi-objective candidate path set to obtain a compliant path set; In this embodiment, the spatial overlap and temporal scheduling conflicts between paths within the candidate path set are first investigated, and conflict path groups and non-conflict path groups are divided. Then, the conflict path groups are adjusted and optimized according to the principle of optimal comprehensive exploration benefits. Finally, the optimized paths and non-conflict paths are integrated to form a set of conflict-free and feasible compliant paths.

[0023] 106. Based on the preset evaluation criteria, all paths in the set of compliant paths are scored, and the path with the highest score is determined as the optimal geological exploration path. In this embodiment, exploration operation simulation is first performed on each path in the set of compliant paths to obtain simulation results. Then, the simulation results are quantitatively scored according to preset evaluation criteria, and the path with the highest score is selected as the optimal path. If there are cases with the same score, the shortest path length is used as the standard to determine the final optimal path.

[0024] In this embodiment of the invention, firstly, basic data of the area to be explored is acquired and topological features are extracted to characterize the terrain, channels, and boundaries within the area, resulting in a regional topological structure map. This provides comprehensive data for subsequent path planning and improves the completeness of exploration target coverage. Then, constraint analysis is conducted based on the regional topological structure map to obtain a constraint quantification comparison table, which quantifies and defines various constraints for exploration operations, avoiding the subjectivity of manual experience-based judgment. Next, node screening and connectivity relationship construction are performed based on the constraint quantification comparison table to generate a node connectivity network, ensuring that all nodes and connectivity relationships comply with operational constraints. Subsequently, multi-target path search is conducted using the node connectivity network as a carrier to generate a multi-target candidate path set. Then, by resolving conflicts in the multi-target candidate path set, issues such as path overlap and redundancy are addressed, resulting in a compliant path set. Finally, the optimal geological exploration path is determined from the compliant path set based on preset evaluation criteria. This invention, based on a path planning system of regional topological analysis and constraint quantification, generates an optimal geological exploration path that balances target coverage completeness and path compliance. This solves the problems of strong subjectivity and easy conflict with objective conditions in existing path planning technologies, achieving precise geological exploration path planning and effectively improving the efficiency of exploration operations.

[0025] Please see Figure 2 Two embodiments of the geological exploration path planning method in this invention include step 101, which includes: 201. Obtain basic data for the area to be explored; In this embodiment, the basic data is the core data source that supports subsequent topological feature extraction and path planning. Specifically, it covers high-precision topographic elevation data, remote sensing image data, water system distribution vector data, administrative division and land use type data, existing exploration access road distribution data and basic geological condition data of the area to be explored. Among them, high-precision topographic elevation data was acquired using UAV aerial surveying or LiDAR laser scanning to accurately reflect the topographic relief of the region; remote sensing image data was selected from high-resolution satellite images within the past three months to identify information such as surface vegetation cover and the distribution of artificial facilities; vector data on water system distribution and administrative division data were retrieved from the geographic information public service platform of the natural resources department; data on the distribution of existing exploration access roads was obtained through on-site reconnaissance or by reviewing historical exploration data; basic geological condition data includes the distribution of lithology, fault locations, and the extent of adverse geological bodies in the region, which can be obtained by reviewing regional geological survey reports or conducting preliminary geophysical exploration results; When obtaining basic data in this step, it is necessary to perform coordinate system unification processing on the multi-source data and convert it to the 2000 National Geodetic Coordinate System to ensure data consistency.

[0026] 202. Perform topological feature extraction on the basic data to obtain the topographic inflection points, water system distribution lines, potential passageways, regional boundary lines and key geographic landmarks of the area to be explored; In this embodiment, for terrain inflection points, based on terrain elevation data, the slope change rate is calculated using a digital elevation model (DEM), and a slope change rate threshold of 15° is set. Terrain abrupt change points with slope change rates exceeding the threshold are identified as terrain inflection points. For the water system distribution lines, the boundary lines of rivers, lakes and ditches are directly extracted from the water system distribution vector data. At the same time, remote sensing image data is combined for correction and small water systems that are not labeled in the vector data are added to form a complete topological feature of the water system distribution lines. For potential access corridors, a comprehensive assessment is conducted using topographic elevation data, land use type data, and existing exploration road data. Areas with a topographic slope of less than 25°, no large areas of swamp or steep cliffs, and which are not ecological red lines or permanent basic farmland are selected and marked as potential access corridors along with existing exploration roads. Regarding the regional boundary line, the outer boundary line of the area to be explored is determined based on administrative division data, and the spatial scope of the route planning is clarified; For key geographical landmarks, select iconic man-made facilities (such as base stations, villages, and checkpoints), natural landmarks (such as mountains, passes, and bridges), and pre-set exploration target points in the region. These landmarks are not only the core nodes of the topology, but also important reference anchors for subsequent path planning. This step uses targeted feature extraction algorithms to transform fragmented basic data into structured topological feature elements.

[0027] 203. Using key geographical landmarks and topographic inflection points as nodes, potential passageways as connecting channels, and water system distribution lines and regional boundary lines as spatial boundaries, generate a regional topology map. In this embodiment, the key geographic landmarks and terrain inflection points extracted in step 202 are first numbered and assigned attribute values. The attribute information of each node includes geographic coordinates, node type (terrain inflection point / geographic landmark), and access control conditions (such as whether large equipment is allowed to pass). Secondly, potential access corridors are used as channels connecting nodes. Based on parameters such as the width, slope, and road surface conditions of the corridors, each channel is assigned a access weight value. The better the access conditions, the higher the weight value of the corridor. At the same time, a connection rule for the channels is set, that is, a topological connection relationship between nodes is established only when there is a potential access corridor that can be directly reached between two nodes. Finally, the water system distribution line and the regional boundary line are used as the spatial boundary of the topological network and marked as "non-crossable boundary" in the topological structure map to limit the path search range and avoid the planned path from crossing the core area of ​​the water system or exceeding the area to be explored. Finally, a regional topological structure map is generated. The regional topological structure map generated in this step integrates terrain constraints, access condition constraints, and spatial range constraints. Subsequent constraint analysis and node selection can be carried out based on the regional topological structure map, which can effectively improve the rationality of path planning.

[0028] Please see Figure 3 In the three embodiments of the geological exploration path planning method of the present invention, step 102 includes: 301. Based on the actual environmental requirements and exploration operation needs of the area to be explored, pre-set rigid constraints and flexible constraints; In this embodiment, rigid constraints refer to inviolable mandatory requirements. Violation of these requirements will directly lead to path failure. Based on the actual environment of the area to be explored and the core needs of the exploration operation, the specific constraints are as follows: First, rigid constraints on ecological protection, explicitly prohibiting the path from crossing sensitive areas such as national nature reserves, core areas of ecological red lines, and drinking water source protection areas, corresponding to the boundaries of the water system core area and special ecological function area marked on the regional topology map; Second, rigid constraints on safe operation, limiting the slope of the connecting passages corresponding to the path to not exceed the limit slope for large exploration equipment, and ensuring that there are no faults, landslides, or other adverse geological bodies within 50 meters of the nodes and passages; Third, rigid constraints on legal compliance, requiring the path not to occupy permanent basic farmland, not to damage cultural relics protection units, and to strictly match the boundaries of prohibited construction areas within the administrative division. Flexible constraints refer to requirements that can be optimized and adjusted according to the actual operation to improve operational efficiency and economy. Specifically, they are set as follows: First, flexible constraints on operating costs, prioritizing the use of connecting passages where existing exploration access roads are located; second, flexible constraints on traffic efficiency, requiring the road surface smoothness of connecting passages to be compatible with exploration equipment; and third, flexible constraints on supply and support, requiring the route to be close to key geographical landmarks (such as villages or checkpoints) that can serve as temporary outposts. When setting constraints in this step, it is necessary to combine the basic data characteristics of the area to be explored with the equipment parameters and process requirements of the exploration operation to ensure that the constraints are targeted and feasible, and to avoid the failure of subsequent path planning due to unreasonable constraint settings.

[0029] 302. Match rigid and flexible constraints with nodes and connecting channels in the region topology diagram to generate a constraint quantification lookup table; In this embodiment, firstly, for each node in the regional topology map, rigid constraints and flexible constraints are matched one by one to determine whether the node meets the constraint requirements and is quantitatively labeled. For rigid constraints, if the node is located in an ecologically sensitive area or within an unfavorable geological body, it is labeled as "rigid violation"; if it meets all rigid constraints, it is labeled as "rigid compliance". For flexible constraints, a quantitative score of 0-10 is assigned based on the distance between the node and the resupply point, whether it can be used as a temporary outpost, etc. (the closer the distance and the stronger the adaptability, the higher the score). Secondly, for each connecting channel in the topology diagram, constraint matching and quantitative labeling are also completed. For rigid constraints, it is checked whether the channel crosses a prohibited area and whether the slope exceeds 35°. Violation of any rigid constraint is marked as "rigid violation (unusable)", and compliance with all constraints is marked as "rigid compliance". For flexible constraints, a quantitative score of 0-10 is assigned based on parameters such as whether the channel is an existing access road, the slope, and the road surface smoothness (the higher the score, the greater the proportion of existing access roads in the connecting channels, the gentler the slope, and the smoother the road surface). Finally, the constraint matching results and quantification data of nodes and channels are organized to generate a constraint quantification comparison table. Each topological element (node / channel) in the constraint quantification comparison table corresponds to a unique constraint record. The constraint quantification comparison table can transform abstract constraints into quantified data, providing a data foundation for the compliance of subsequent path planning.

[0030] Please see Figure 4 In the four embodiments of the geological exploration path planning method of the present invention, step 103 includes: 401. Select nodes and connection channels that simultaneously satisfy both rigid and flexible constraints from the constraint quantification comparison table to obtain qualified nodes and qualified channels. In this embodiment, for node screening, the constraint quantification comparison table is used as the screening basis. First, nodes marked as "rigid violation (unusable)" are removed, and nodes marked as "rigid compliance" are retained. On this basis, a second screening is carried out in combination with the flexible constraint quantification score. The preset flexible constraint qualification threshold is 6 points. Nodes with flexible constraint scores below 6 points are removed, and the nodes that are finally retained are qualified nodes. For the selection of connection channels, the constraint quantification comparison table is used as the selection basis. Channels marked as "rigid violation (unavailable)" are first eliminated. On this basis, a second selection is carried out in combination with the flexible constraint quantification score. The default threshold for qualified flexible constraint is 6 points. Channels with flexible constraint scores below 6 points are eliminated. The channels that are finally retained are qualified channels.

[0031] 402. Construct a node connectivity network based on qualified nodes and qualified channels; In this embodiment, firstly, the correspondence between qualified channels and qualified nodes is sorted out. Based on the association records of channels and nodes in the constraint quantization lookup table, each qualified channel is precisely connected to its two corresponding qualified nodes (i.e., the starting node and the ending node of the channel), forming a basic connection unit of "node-channel-node". Then, all basic connection units are integrated to generate a complete node connectivity network. During this process, the matching rationality of channels and nodes must be strictly verified to ensure that there are no invalid connections where "both ends of a channel are connected to unqualified nodes". If one end node of a qualified channel is found to be an unqualified node, the connection relationship of that channel segment is removed to avoid the generation of invalid network links.

[0032] Please see Figure 5 Five embodiments of the geological exploration path planning method in this invention include step 104, which includes: 501. Delineate exploration targets within the area to be explored; In this embodiment, firstly, by combining the geological exploration task book and regional geological survey report of the area to be explored, the core tasks of the exploration operation are clarified, such as mineral resource sampling, geological structure detection, and hydrogeological monitoring. Based on this, the types of exploration targets are determined, including sampling points, detection points, and monitoring points. Then, based on the basic geological data of the area to be explored (such as lithological distribution, fault location, and the range of mineral anomaly zones), the specific locations of the exploration targets are accurately delineated within the area to be explored. For example, for mineral resource sampling tasks, sampling points are distributed evenly within the mineral anomaly area. The spacing between sampling points is set to 500-1000 meters according to the exploration accuracy requirements. At the same time, it is ensured that each exploration target is within the coverage area of ​​the node connectivity network constructed in step 103. If a preset exploration target is outside the network coverage area, its position is adjusted to a reasonable area around the nearest qualified node to avoid the path becoming inaccessible due to the target leaving the network.

[0033] 502. Using the node connectivity network as the basic carrier for path search, multi-target path search is performed on the exploration targets based on the preset exploration order to generate feasible paths covering all exploration targets. In this embodiment, firstly, the preset exploration sequence is defined. This sequence is set based on the logical requirements of the exploration operation, the correlation of geological conditions, and the requirements of operation efficiency. For example, for geological structure exploration tasks, the exploration can start from the periphery of the fault and then move towards the core area to avoid duplication of operations or data interference caused by an unreasonable exploration sequence. Secondly, all exploration targets identified in step 501 are associated and matched with qualified nodes in the node connectivity network. Each exploration target is mapped to the nearest qualified node (the mapping distance does not exceed 200 meters to ensure that exploration equipment can be transported over short distances), and transformed into a "target node" for path search. At the same time, the starting point of the exploration operation (such as qualified nodes corresponding to temporary camps or access roads) is set as the "starting node" for path search. Subsequently, an improved genetic algorithm is used as a multi-objective path search algorithm. The node connectivity network is used as the search carrier. "Covering all target nodes", "following the preset exploration order", and "shortest total path length" are used as multi-objective optimization objectives. The starting node, target nodes and topology data of the node connectivity network are input to carry out path search. Finally, multiple feasible paths that can cover all exploration targets, follow the preset exploration order and consist only of qualified nodes and qualified channels within the node connectivity network are generated.

[0034] 503. Integrate all feasible paths to obtain a multi-objective candidate path set.

[0035] Please see Figure 6 The six embodiments of the geological exploration path planning method in this invention include step 105, which includes: 601. Perform conflict investigation on all paths in the multi-target candidate path set to identify conflict path groups with conflicts and conflict-free path groups without conflicts. In this embodiment, firstly, the criteria for determining path conflicts are clarified. Based on the actual scenarios of geological exploration operations, two core conflict types and judgment rules are set: one is spatial overlap conflict, which refers to two or more paths having overlapping sections (overlap length exceeding 50 meters) within the same qualified passage, or the distance between the nodes of the two paths being less than 100 meters (which easily leads to congestion of exploration equipment), and is judged as a spatial conflict; the other is operation timing conflict, which refers to the exploration targets corresponding to the two paths needing to be carried out in the same time period (such as the same working day), and the two paths sharing a key transfer passage (such as the only access road to the mountain), resulting in the inability to schedule equipment simultaneously and the inability to advance operations in parallel, and is judged as a timing conflict. Secondly, a "pairwise comparison" approach is used to conduct the investigation. All paths in the multi-target candidate path set are traversed, a path comparison matrix is ​​constructed, and spatial overlap is checked (based on the channel sequence and node coordinates in the path topology data) and temporal sequence matching is checked (based on the estimated operation time and target exploration time requirements in the path attribute information). After comparison, two or more paths with spatial overlap or timing conflicts are grouped into a conflict path group; paths with no spatial or timing conflicts with all other paths are grouped into a non-conflict path group and retained separately.

[0036] 602. Based on the principle of maximizing comprehensive exploration benefits, and without interfering with conflict-free path groups, adjust conflict path groups to obtain optimized path groups. In this embodiment, firstly, the conflict path groups are prioritized. The priority is determined by the comprehensive exploration benefits, which are calculated by weighting three indicators: the importance of the exploration target, the estimated operational benefits, and the urgency of the operation. Paths with high priority retain the core path segments, while paths with low priority are the main targets for adjustment. Secondly, differentiated adjustment strategies are adopted for different conflict types: For spatially overlapping conflicts, alternative routes are replanned for lower-priority paths. These alternative routes must be generated based on other qualified nodes and channels within the node connectivity network to ensure that the adjusted routes still cover the original exploration targets, follow the original exploration sequence, and do not create new conflicts with other paths in the conflict path group or the non-conflict path group. If a complete alternative route cannot be found, a "segmented avoidance" approach is adopted to adjust the passage sequence of conflicting road segments (e.g., higher-priority paths are allowed to pass in the morning, and lower-priority paths in the afternoon) to avoid equipment congestion. For work sequence conflicts, the work sequence of lower-priority paths is adjusted first to reasonably stagger the usage time of key channels. If time sequence adjustment is not feasible (e.g., the exploration targets have time-sensitive requirements), suitable transfer channels are searched again for lower-priority paths to generate time-compatible adjusted routes. Finally, the adjusted paths are validated for effectiveness. The validation includes: whether they still cover all original exploration targets, whether they meet the requirements of the constraint quantification checklist, and whether they have no new conflicts with other paths. Paths that pass the validation are grouped into optimized paths.

[0037] 603. Integrate the optimized path group and the conflict-free path group to obtain the compliant path set.

[0038] Please see Figure 7 The seven embodiments of the geological exploration path planning method in this invention include step 106, which includes: 701. Perform exploration operation simulation for all paths within the compliant path set and generate simulation results for each path; In this embodiment, firstly, an exploration operation simulation model is built. The model input parameters include the topological data of each path in the compliant path set (path nodes, channel attributes, total path length), exploration target attribute information (target type, operation requirements), exploration equipment parameters (equipment weight, maximum gradient, driving speed), and real-time environmental data of the area to be explored (real-time weather, road surface humidity, etc.). Secondly, a simulation scenario is set, which replicates the actual operating conditions of the area to be explored. Finally, the simulation is started, and the entire process of each path in the compliant path set is simulated one by one. The various data recorded during the simulation are summarized and organized to generate a simulation result report for each path. The simulation results report should include at least the following indicators: total operation time, average transfer time between targets, equipment accessibility data, accessibility of emergency shelters, and accessibility of rescue channels.

[0039] 702. Based on the preset evaluation criteria, score the deduction results of each path and determine the path with the highest score as the optimal geological exploration path; if there are multiple paths with the same highest score, select the shortest path as the optimal geological exploration path. In this embodiment, the preset evaluation criteria are divided into three categories: First, the work efficiency index (weight 40%), which is calculated based on the total work time and average transfer time between targets in the simulation results; the shorter the time, the higher the score. Second, the equipment compatibility index (weight 35%), which is calculated based on the equipment traffic flow data recorded in the simulation; the higher the score, the more stable the equipment speed and the less obstructed the traffic. Third, the safety assurance index (weight 25%), which is calculated based on the reachability of emergency shelters and the unobstructedness of rescue channels; the shorter the reachability and the more unobstructed the channel, the higher the score. Each index is quantified using a percentage system. The final comprehensive score = work efficiency score × 40% + equipment compatibility score × 35% + safety assurance score × 25%. Subsequently, the corresponding data in the simulation results report of each path is extracted, and the data is substituted into the scoring formula of each indicator to complete the calculation and obtain the comprehensive score of each path. Then, the paths are sorted from high to low according to their comprehensive scores, and the paths with the highest comprehensive scores are selected as preliminary optimal path candidates. Finally, in the case of a tie, if two or more paths have completely identical comprehensive scores, the topological data of these paths are extracted, their total path lengths are compared, and the shortest path is selected as the final optimal path for geological exploration.

[0040] The geological exploration path planning method in the embodiments of the present invention has been described above. The geological exploration path planning device in the embodiments of the present invention will be described below. Please refer to [link / reference]. Figure 8 One embodiment of the geological exploration path planning device in this invention includes: The extraction module 801 is used to acquire basic data of the area to be explored and to extract topological features from the basic data to obtain a topological structure map of the area. The constraint module 802 is used to perform constraint analysis based on the regional topology diagram to obtain a constraint quantification lookup table; The construction module 803 is used to perform node screening and connectivity construction based on the constraint quantization lookup table to obtain a node connectivity network; The search module 804 is used to delineate exploration targets in the area to be explored, and to perform multi-target path search on the exploration targets using the node connectivity network as the search carrier, so as to obtain a set of multi-target candidate paths. The conflict resolution module 805 is used to resolve conflicts in the multi-objective candidate path set to obtain a compliant path set; The scoring module 806 is used to score all paths in the set of compliant paths based on preset evaluation criteria, and to determine the path with the highest score as the optimal geological exploration path. In this embodiment, firstly, the extraction module 801 acquires basic data of the area to be explored and performs topological feature extraction to characterize the terrain, channels, and boundaries within the area, obtaining a regional topological structure map. Next, the constraint module 802 performs constraint analysis based on the regional topological structure map to obtain a constraint quantification comparison table. Then, the construction module 803 uses the constraint quantification comparison table to filter nodes and construct connectivity relationships, generating a node connectivity network. Subsequently, the search module 804 uses the node connectivity network as a carrier to conduct multi-objective path search, generating a multi-objective candidate path set. The conflict resolution module 805 resolves conflicts in the multi-objective candidate path set, addressing issues such as path overlap and redundancy, obtaining a compliant path set. Finally, the scoring module 806 determines the optimal geological exploration path from the compliant path set based on preset evaluation criteria. This invention, based on a path planning system of regional topological analysis and constraint quantification, generates an optimal geological exploration path that balances target coverage integrity and path compliance, solving the problems of strong subjectivity and easy conflict with objective conditions in existing path planning technologies. This achieves precise geological exploration path planning and effectively improves the efficiency of exploration operations.

[0041] Figure 9This is a schematic diagram of the structure of a geological exploration path planning device 900 provided in an embodiment of the present invention. The geological exploration path planning device 900 can vary significantly due to different configurations or performance characteristics. It may include one or more central processing units (CPUs) 910 (e.g., one or more processors) and a memory 920, and one or more storage media 930 (e.g., one or more mass storage devices) storing application programs 933 or data 932. The memory 920 and storage media 930 can be temporary or persistent storage. The program stored in the storage media 930 may include one or more modules (not shown in the diagram), each module including a series of instruction operations on the geological exploration path planning device 900. Furthermore, the processor 910 may be configured to communicate with the storage media 930 and execute the series of instruction operations in the storage media 930 on the geological exploration path planning device 900 to implement the steps of the geological exploration path planning method provided in the above-described method embodiments.

[0042] The geological exploration route planning device 900 may also include one or more power supplies 940, one or more wired or wireless network interfaces 950, one or more input / output interfaces 960, and / or one or more operating systems 931, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will understand that... Figure 9 The geological exploration path planning equipment structure shown does not constitute a limitation on the geological exploration path planning equipment, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0043] The present invention also provides a computer-readable storage medium, which can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein the computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the steps of a geological exploration path planning method.

[0044] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system, device, or unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0045] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0046] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A geological exploration route planning method, characterized in that, The geological exploration route planning method includes the following steps: Acquire basic data of the area to be explored, and extract topological features from the basic data to obtain a topological structure map of the area; Constraint analysis is performed based on the regional topology diagram to obtain a constraint quantification comparison table; Based on the constraint quantization lookup table, node selection and connectivity relationship construction are performed to obtain a node connectivity network; In the area to be explored, exploration targets are delineated, and a multi-target path search is performed on the exploration targets using a node connectivity network as the search carrier to obtain a set of multi-target candidate paths. Conflict resolution is performed on the multi-objective candidate path set to obtain a compliant path set; Based on preset evaluation criteria, all paths within the set of compliant paths are scored, and the path with the highest score is determined as the optimal path for geological exploration.

2. The geological exploration path planning method according to claim 1, characterized in that, The process of acquiring basic data of the area to be explored and extracting topological features from the basic data to obtain a regional topological structure map includes: Obtain basic data for the area to be explored; Topological features are extracted from the basic data to obtain the topographic inflection points, water system distribution lines, potential passageways, regional boundary lines and key geographic landmarks of the area to be explored. A regional topology map is generated by using key geographical landmarks and topographic inflection points as nodes, potential passageways as connecting channels, and water system distribution lines and regional boundary lines as spatial boundaries.

3. The geological exploration route planning method according to claim 1, characterized in that, The constraint analysis based on the regional topology diagram to obtain the constraint quantification lookup table includes: Based on the actual environmental requirements and exploration operation needs of the area to be explored, rigid and flexible constraints are preset. Rigid and flexible constraints are matched with nodes and connecting channels in the region's topology diagram to generate a constraint quantification lookup table.

4. The geological exploration path planning method according to claim 1, characterized in that, The process of selecting nodes and constructing connectivity relationships based on the constraint quantization lookup table to obtain a node connectivity network includes: Nodes and connection channels that simultaneously satisfy both rigid and flexible constraints are selected from the constraint quantification comparison table to obtain qualified nodes and channels. A node connectivity network is constructed based on qualified nodes and qualified channels.

5. The geological exploration route planning method according to claim 1, characterized in that, The process of delineating exploration targets in the area to be explored, and using a node connectivity network as the search vehicle to perform multi-target path search on the exploration targets to obtain a set of multi-target candidate paths includes: Delineate exploration targets within the area to be explored; Using a node-connected network as the basic carrier for path search, multi-target path search is performed on exploration targets based on a preset exploration order to generate feasible paths covering all exploration targets. Integrate all feasible paths to obtain a multi-objective candidate path set.

6. The geological exploration route planning method according to claim 1, characterized in that, The process of resolving conflicts in the multi-objective candidate path set to obtain a compliant path set includes: Conflict checks are performed on all paths within the multi-target candidate path set to identify conflicting path groups and conflict-free path groups. Based on the principle of maximizing comprehensive exploration benefits, and without interfering with conflict-free path groups, path adjustments are made to conflict path groups to obtain optimized path groups. The optimized path group and the conflict-free path group are integrated to obtain the compliant path set.

7. The geological exploration route planning method according to claim 1, characterized in that, The process of scoring all paths within the compliant path set based on preset evaluation criteria, and determining the path with the highest score as the optimal geological exploration path, includes: For all paths within the compliant path set, perform exploration operation simulation and generate simulation results for each path; The results of each path are scored based on the preset evaluation criteria, and the path with the highest score is determined as the optimal path for geological exploration. If there are multiple paths with the same highest score, the shortest path is selected as the optimal path for geological exploration.

8. A geological exploration route planning device, characterized in that, include: The extraction module is used to acquire basic data of the area to be explored and to extract topological features from the basic data to obtain a topological structure map of the area. The constraint module is used to perform constraint analysis based on the regional topology diagram to obtain a constraint quantification lookup table; The construction module is used to filter nodes and construct connectivity relationships based on the constraint quantization lookup table to obtain a node connectivity network; The search module is used to delineate exploration targets in the area to be explored, and to perform multi-target path search on the exploration targets using the node connectivity network as the search carrier, so as to obtain a set of multi-target candidate paths. The conflict resolution module is used to resolve conflicts in a multi-objective candidate path set to obtain a compliant path set. The scoring module is used to score all paths in the set of compliant paths based on preset evaluation criteria, and to determine the path with the highest score as the optimal path for geological exploration.

9. A geological exploration path planning device, characterized in that, The geological exploration path planning device includes: a memory and at least one processor, wherein the memory stores instructions; At least one of the processors invokes the instructions in the memory to cause the geological exploration path planning device to perform the steps of the geological exploration path planning method as described in any one of claims 1-7.

10. A computer-readable storage medium storing instructions thereon, characterized in that, When the instructions are executed by the processor, they implement the various steps of the geological exploration path planning method as described in any one of claims 1-7.

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