A mine car parking path planning optimization method based on a cyclide and a circular arc line

Abstract

The application discloses a mine car parking path planning optimization method based on a cyclide and an arc line, and comprises the following steps: acquiring a starting point position and an end point position of an arc path in a parking path of a mine car; establishing a first constraint equation based on a center position of a small arc in the arc path, the starting point position and the end point position by a symmetry principle; determining a target constraint equation corresponding to a cyclide parameter based on the first constraint equation, the starting point position and the end point position, and solving the target constraint equation to obtain a target cyclide parameter; determining a cyclide arc length corresponding to a cyclide on both sides of the small arc in the arc path and an arc arc length of the small arc based on the target cyclide parameter; and determining a target parking path of the mine car based on the cyclide arc length and the arc arc length. The application reduces the probability of in-situ turning of the mine car caused by discontinuous curvature of the parking path in the parking process, and improves the parking control effect of the mine car.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, and particularly relates to a mine car parking path planning optimization method based on a clothoid and a circular arc. BACKGROUND

[0002] With the continuous development of human society, people's demand for mineral resources is increasing. In order to meet people's demand for mineral resources, the mining intensity is increasing. Mining enterprises increase the number of mining equipment to improve production, but the harsh working environment of the mine makes human drivers unable to work for a long time and increases the cost of human labor. In addition, human drivers will cause accidents due to distraction, need to work in shifts, and other factors, which affects the transportation efficiency.

[0003] The emergence of unmanned technology is a powerful means to solve this problem. The machine completely replaces the human to work, which is no longer limited by the human driver, and the transportation safety and efficiency are improved. The mine car parking path planning optimization based on the clothoid and the circular arc is an important issue in the problem of unmanned mine car automatic driving. Parking and loading or heavy loading and unloading are common production scenes in mines. The path planning based on the geometric method is often used in low-speed parking conditions, but the Dubins curve or Reeds-Shepp curve in the path planning has the problem of sudden change of curvature at the connection of the straight line and the circular arc, which will cause the mine car to turn in place when parking, causing the tire to wear, and also causing damage to the mine road surface.

[0004] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0005] The main purpose of the present application is to provide a mine car parking path planning optimization method based on a clothoid and a circular arc, which aims to solve the technical problem of sudden change of curvature at the connection of the straight line and the circular arc in the mine car parking path planning optimization based on the clothoid and the circular arc of the existing unmanned mine car.

[0006] To achieve the above purpose, the present application provides a mine car parking path planning optimization method based on a clothoid and a circular arc, which comprises the following steps:

[0007] Obtaining the starting point position and the ending point position of the circular arc path in the parking path of the mine car;

[0008] Based on the center position of the small circular arc in the transition curve corresponding to the circular arc path, the starting point position and the ending point position, a first constraint equation is established by the symmetry principle;

[0009] determine a target constraint equation corresponding to the clothoid parameter based on the first constraint equation, the start position and the end position, and solve the target constraint equation to obtain a target clothoid parameter;

[0010] determine clothoid arc lengths corresponding to the clothoids on both sides of the small circular arc in the circular arc path and a circular arc length of the small circular arc based on the target clothoid parameter;

[0011] determine the target parking path of the mine car based on the clothoid arc lengths and the circular arc length.

[0012] Further, the step of establishing the first constraint equation based on the center position of the small circular arc in the circular arc path corresponding to the transition curve, the start position and the end position includes:

[0013] determine a midpoint position based on the start position and the end position;

[0014] obtain a first central angle corresponding to the circular arc path;

[0015] determine the first constraint equation based on the midpoint position, the center position and the first central angle.

[0016] Further, the step of determining a target constraint equation corresponding to the clothoid parameter based on the first constraint equation, the start position and the end position includes:

[0017] obtain a clothoid end position corresponding to a first segment of the clothoid and a radius of the small circular arc;

[0018] determine the target constraint equation based on the radius of the small circular arc, the midpoint position, the clothoid end position and the first constraint equation.

[0019] Further, the step of obtaining a clothoid end position corresponding to a first segment of the clothoid and a radius of the small circular arc includes:

[0020] obtain a preset curvature parameter and determine the radius based on the preset curvature parameter;

[0021] determine the clothoid end position based on the preset curvature parameter and the clothoid parameter.

[0022] Further, the step of determining the target constraint equation based on the radius of the small circular arc, the midpoint position, the clothoid end position and the first constraint equation includes:

[0023] determining a center position of the small circular arc based on the end position of the clothoid, the radius of the small circular arc, and the clothoid parameter;

[0024] updating the first constraint equation to obtain a second constraint equation based on the center position and the midpoint position;

[0025] determining a target constraint equation corresponding to the clothoid parameter based on the second constraint equation.

[0026] Further, the step of determining the clothoid arc length corresponding to the clothoid on both sides of the small circular arc and the circular arc length of the small circular arc based on the target clothoid parameter comprises:

[0027] determining the clothoid arc length based on the target clothoid parameter and the radius of the small circular arc;

[0028] determining a second central angle corresponding to the small circular arc based on the first central angle corresponding to the circular arc path and the target clothoid parameter, and determining the circular arc length based on the second central angle and the radius.

[0029] Further, the step of determining the target parking path of the mine car based on the clothoid arc length and the circular arc length comprises:

[0030] determining a curve length of a transition curve corresponding to the circular arc path based on the clothoid arc length and the circular arc length;

[0031] updating the parking path based on the curve length to obtain the target parking path.

[0032] Further, after the step of determining the target parking path of the mine car based on the clothoid arc length and the circular arc length, the mine car parking path planning optimization method based on clothoid and circular arc line further comprises:

[0033] controlling the mine car to travel based on the target parking path.

[0034] In addition, to achieve the above-mentioned purpose, the application also provides a mine car parking path planning optimization device based on clothoid and circular arc line, which comprises a memory, a processor, and a mine car parking path planning optimization program based on clothoid and circular arc line stored on the memory and executable on the processor, and the mine car parking path planning optimization program based on clothoid and circular arc line implements the steps of the mine car parking path planning optimization method based on clothoid and circular arc line when executed by the processor.

[0035] In addition, in order to achieve the above object, the present application also provides a computer readable storage medium, wherein a mine car parking path planning optimization program based on clothoids and circular arcs is stored on the computer readable storage medium, and the mine car parking path planning optimization program based on clothoids and circular arcs realizes the steps of the mine car parking path planning optimization method based on clothoids and circular arcs when executed by a processor.

[0036] The present application obtains the start point position and the end point position of the circular arc path in the parking path of the mine car, then establishes a first constraint equation based on the center position of the small circular arc in the transition curve corresponding to the circular arc path, the start point position and the end point position through the symmetry principle, then determines a target constraint equation corresponding to the clothoid parameter based on the first constraint equation, the start point position and the end point position, and solves the target constraint equation to obtain a target clothoid parameter, then determines the clothoid arc length corresponding to the clothoids on both sides of the small circular arc in the circular arc path and the circular arc arc length of the small circular arc based on the target clothoid parameter, and finally determines the target parking path of the mine car based on the clothoid arc length and the circular arc arc length, so that the parking path with continuous curvature can be obtained, the probability of the mine car turning in place due to the discontinuous curvature of the parking path in the parking process is reduced, the wear of the mine car tire in the parking process is reduced, a more reasonable and more convenient parking path to track is provided, and the parking control effect of the mine car is improved. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 is a structure schematic diagram of the mine car parking path planning optimization device based on clothoids and circular arcs in the hardware running environment of the embodiment scheme of the present application;

[0038] Figure 2 is a flow schematic diagram of the first embodiment of the mine car parking path planning optimization method based on clothoids and circular arcs of the present application;

[0039] Figure 3 is a straight possibility scenario schematic diagram of the parking path geometric model in the mine car parking path planning optimization method based on clothoids and circular arcs of the present application;

[0040] Figure 4 is a straight possibility scenario schematic diagram of the curvature parameter in the mine car parking path planning optimization method based on clothoids and circular arcs of the present application.

[0041] The implementation of the object of the present application, the functional features and the advantages will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0042] It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0043] As Figure 1 shown, Figure 1 is the structural schematic diagram of the device for planning and optimizing the mine car parking path based on the clothoid and circular arc in the hardware running environment involved in the embodiment of the present application.

[0044] The device for planning and optimizing the mine car parking path based on the clothoid and circular arc in the embodiment of the present application can be a PC or a mine car, or a mobile terminal device with a display function such as a smart phone or a tablet computer.

[0045] As Figure 1 shown, the device for planning and optimizing the mine car parking path based on the clothoid and circular arc can include a processor 1001 such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize the connection and communication between the components. The user interface 1003 can include a display screen (Display) and an input unit such as a keyboard (Keyboard). The optional user interface 1003 can also include a standard wired interface and a wireless interface. The network interface 1004 can optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 can be a high-speed RAM memory or a stable memory (non-volatile memory) such as a disk memory. The memory 1005 can also be an independent storage device from the aforementioned processor 1001.

[0046] Optionally, the device for planning and optimizing the mine car parking path based on the clothoid and circular arc can also include a camera, an RF (Radio Frequency, radio frequency) circuit, a sensor, an audio circuit, a WiFi module, etc. The sensor can be a light sensor, a motion sensor, and other sensors. Of course, the device for planning and optimizing the mine car parking path based on the clothoid and circular arc can also be configured with a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, and other sensors, which will not be described here.

[0047] Those skilled in the art can understand that Figure 1 the terminal structure shown in the above does not constitute a limitation on the device for planning and optimizing the mine car parking path based on the clothoid and circular arc, and can include more or fewer components than the illustrated components, or combine certain components, or different component arrangements.

[0048] As Figure 1 shown, the memory 1005 as a computer storage medium can include an operating system, a network communication module, a user interface module, and a device for planning and optimizing the mine car parking path based on the clothoid and circular arc.

[0049] In Figure 1The network interface 1004 is mainly used for connecting the background server and communicating data with the background server. The user interface 1003 is mainly used for connecting the client (user end) and communicating data with the client. The processor 1001 can be used to call the storage memory 1005 based on the spiral line and circular arc line of the mine car parking path planning optimization program.

[0050] In the embodiment, the storage memory 1005, the processor 1001 and the storage memory 1005 based on the spiral line and circular arc line of the mine car parking path planning optimization program can be used. When the processor 1001 calls the storage memory 1005 based on the spiral line and circular arc line of the mine car parking path planning optimization program, the steps of the spiral line and circular arc line based on the mine car parking path planning optimization method in each embodiment are executed.

[0051] The application also provides a spiral line and circular arc line based mine car parking path planning optimization method, which refers to Figure 2 , Figure 2 The flowchart of the first embodiment of the spiral line and circular arc line based mine car parking path planning optimization method of the application is shown in the figure.

[0052] In the embodiment, the spiral line and circular arc line based mine car parking path planning optimization method includes:

[0053] In step S101, the starting point position and the ending point position of the circular arc path in the parking path of the mine car are obtained.

[0054] In the embodiment, the mine car can be an unmanned mine car, and the parking path is the driving path when the mine car drives to the target position, such as the driving path when the mine car parks in the loading position (drives to the loading position) to load, or the driving path when the heavy load mine car parks in the unloading position.

[0055] In the embodiment, the circular arc path in the parking path can be obtained before the mine car drives to the circular arc path in the parking path, or when the mine car obtains the parking path, and the parking path geometric model is established according to the circular arc path, such as Figure 3 as shown, Figure 3 The starting point position and the ending point position of the circular arc path in the parking path geometric model in the embodiment are obtained according to the parking path geometric model, and the starting point position and the ending point position can be the coordinates in the parking path geometric model, Figure 3 In the embodiment, the center of the circular arc path is O1, and the center of the circular arc path is O1, and the radius of the circular arc path is R O1The circular arc with the radius is a circular arc path in the parking path, and a start point position of the circular arc path is (x0, y0, θ0) and an end point position is (x1, y1, θ1), where θ0 is an angle between a driving direction of the mine car at the start point position and a horizontal direction, and θ1 is an angle between a driving direction of the mine car at the end point position and the horizontal direction.

[0056] In step S102, based on the center position of the small circular arc in the transition curve corresponding to the circular arc path, the start point position, and the end point position, a first constraint equation is established by the symmetry principle.

[0057] In this embodiment, after the start point position and the end point position are obtained, based on the center position of the small circular arc in the transition curve corresponding to the circular arc path, the start point position, and the end point position, a first constraint equation is established by the symmetry principle. Specifically, based on the start point position and the end point position, a midpoint position is determined by the symmetry principle, the midpoint position being a midpoint coordinate corresponding to the start point position and the end point position, Figure 3 where (x m , y m ) is the midpoint position. Then, a center position of a center of the small circular arc (the center position corresponding to a coordinate in a parking path geometric model) is obtained, Figure 3 where the center position is (x CO2 , y CO2 ). A first central angle corresponding to the circular arc path is obtained, the first central angle being a central angle corresponding to the circular arc path in the parking path geometric model. Then, based on the center position, the first central angle, and the midpoint position, a first constraint equation is determined. Specifically, a formula of the first constraint equation is:

[0058]

[0059] where δ is a half of the first central angle.

[0060] In step S103, based on the first constraint equation, the start point position, and the end point position, a target constraint equation corresponding to a cycloid parameter is determined, and the target constraint equation is solved to obtain a target cycloid parameter.

[0061] In this embodiment, after the first constraint equation is obtained, based on the first constraint equation, the start point position, and the end point position, a target constraint equation corresponding to a cycloid parameter α is determined. Specifically, an association relationship between the center position in the first constraint equation and the cycloid parameter α is obtained, and based on the association relationship and the midpoint coordinate, the first constraint equation is updated to obtain the target constraint equation.

[0062] After the target constraint equation is obtained, the target constraint equation is solved to obtain a target clothoid parameter a. Specifically, the target constraint equation is solved by using a dichotomy method. The target clothoid parameter a is a difference between a road point direction of a terminal point of the clothoid relative to a road point direction of a starting point of the clothoid, that is, the target clothoid parameter a is a difference between an angle between the terminal point of the clothoid and a horizontal direction and an angle between the starting point of the clothoid and the horizontal direction in the parking path geometric model.

[0063] In step S104, based on the target clothoid parameter, a clothoid arc length corresponding to the clothoid on both sides of the small circular arc in the circular arc path and a circular arc arc length of the small circular arc are determined.

[0064] In this embodiment, after the target clothoid parameter a is obtained, the circular arc arc length of the small circular arc is determined based on the target clothoid parameter. Specifically, a+β=δ, where δ is a first central angle, β is a second central angle corresponding to the small circular arc, and a is the target clothoid parameter. The second central angle can be obtained by the first central angle and the target clothoid parameter, and the circular arc arc length of the small circular arc is calculated based on the second central angle.

[0065] At the same time, based on the target clothoid parameter, the clothoid arc length corresponding to the clothoid on both sides of the small circular arc in the circular arc path is calculated. According to the symmetry principle, the clothoid arc length of the first segment of the clothoid before the small circular arc in the parking path geometric model is the same as the clothoid arc length of the second segment of the clothoid after the small circular arc. Therefore, the clothoid arc length of the first segment of the clothoid can be determined based on the target clothoid parameter.

[0066] In step S105, based on the clothoid arc length and the circular arc arc length, a target parking path of the mine car is determined.

[0067] In this embodiment, after the clothoid arc length and the circular arc arc length are obtained, the target parking path of the mine car is determined based on the clothoid arc length and the circular arc arc length. Specifically, the target parking path can be obtained by replacing the circular arc path in the parking path with the clothoid arc length and the circular arc arc length. Thus, a curvature-continuous parking path can be obtained, which reduces the probability of the mine car turning in place due to discontinuous curvature of the parking path during parking, reduces the wear of the mine car tires during parking, and provides a more reasonable and convenient-to-track parking path, thereby improving the parking control effect of the mine car.

[0068] Further, in a possible implementation manner, after step S105, the mine car parking path planning and optimization method based on the clothoid and the circular arc further includes:

[0069] In step S106, the mine car is controlled to travel based on the target parking path.

[0070] In the embodiment, after the target parking path is acquired, the mine car is controlled to travel based on the target parking path, so as to reduce the probability of the mine car turning in place due to discontinuous curvature of the parking path in the parking process, reduce the wear of the mine car tire in the parking process, provide a more reasonable and more convenient parking path to track, and improve the parking control effect of the mine car.

[0071] The mine car parking path planning optimization method based on the clothoid and the circular arc line provided in the embodiment comprises the following steps: acquiring a start point position and an end point position of a circular arc path in a parking path of a mine car; based on a center position of a small circular arc in a transition curve corresponding to the circular arc path, the start point position and the end point position, a first constraint equation is established by symmetry principle; based on the first constraint equation, the start point position and the end point position, a target constraint equation corresponding to a clothoid parameter is determined, and the target constraint equation is solved to obtain a target clothoid parameter; based on the target clothoid parameter, a clothoid arc length corresponding to the clothoid on both sides of the small circular arc in the circular arc path and an arc length of the small circular arc are determined; and finally, based on the clothoid arc length and the arc length of the small circular arc, a target parking path of the mine car is determined, so that a parking path with continuous curvature is obtained, the probability of the mine car turning in place due to discontinuous curvature of the parking path in the parking process is reduced, the wear of the mine car tire in the parking process is reduced, a more reasonable and more convenient parking path to track is provided, and the parking control effect of the mine car is improved.

[0072] Based on the first embodiment, a second embodiment of the mine car parking path planning optimization method based on the clothoid and the circular arc line is provided, and in the second embodiment, step S102 comprises:

[0073] In step S201, a midpoint position is determined based on the start point position and the end point position.

[0074] In step S202, a first central angle corresponding to the circular arc path is acquired.

[0075] In step S203, the first constraint equation is determined based on the midpoint position, the center position and the first central angle.

[0076] In the embodiment, after the start point position and the end point position are acquired, the midpoint position is determined based on the start point position and the end point position by symmetry principle, and the midpoint position is a midpoint coordinate corresponding to the start point position and the end point position, Figure 3 (x m , y m ) is the midpoint position.

[0077] Then, a first central angle corresponding to the circular arc path is obtained, the first central angle being a central angle corresponding to the circular arc path in the parking path geometric model, a central position of a central point corresponding to the small circular arc (the central position corresponding to coordinates in the parking path geometric model) is obtained, Figure 3 The central position is (x CO2 , y CO2 ).

[0078] Then, a first constraint equation is determined based on the central position, the first central angle, and the midpoint position. Specifically, the formula of the first constraint equation is:

[0079]

[0080] Wherein, δ is half of the first central angle.

[0081] The mining vehicle parking path planning optimization method based on the clothoid and the circular arc line provided in the embodiment can accurately obtain the first constraint equation, thereby improving the accuracy of the target parking path with continuous curvature, reducing the probability of in-place turning of the mining vehicle caused by discontinuous curvature of the parking path during parking, reducing the wear of the mining vehicle tires during parking, providing a more reasonable and convenient parking path to track, and improving the parking control effect of the mining vehicle.

[0082] Based on the second embodiment, a third embodiment of the mining vehicle parking path planning optimization method based on the clothoid and the circular arc line is provided. In the third embodiment, step S103 includes:

[0083] Step S301: obtaining a clothoid endpoint position corresponding to a first clothoid in the clothoid and a radius of the small circular arc;

[0084] Step S302: determining a target constraint equation based on the radius of the small circular arc, the midpoint position, the clothoid endpoint position, and the first constraint equation.

[0085] In the third embodiment, after obtaining the first constraint equation, the clothoid endpoint position corresponding to the first clothoid in the clothoid and the radius of the small circular arc are obtained. Specifically, in one possible implementation, step S301 includes:

[0086] Step S3011: obtaining a preset curvature parameter and determining the radius based on the preset curvature parameter;

[0087] Step S3012: determining the clothoid endpoint position based on the preset curvature parameter and the clothoid parameter.

[0088] In this embodiment, after obtaining the first constraint equation, a preset curvature parameter is obtained, wherein the preset curvature parameter K = 1 / R. O2 The radius R of the small arc is determined based on the preset curvature parameter. O2 , where R O2 It can be reasonably set according to curvature constraints, for example, R O2 ∈(0.7R O1 ~0.95R O1 Preferably, R O2 ∈(0.8R O1 ~0.9R O1 The formula for the preset curvature parameter is as follows:

[0089] K = 1 / R O2 =2α / s;

[0090] Where K is the preset curvature parameter, s is the arc length of the spiral curve of the first segment, α is the spiral curve parameter, and R... O2 Let be the radius of the small arc.

[0091] Next, based on the preset curvature parameters and spiral parameters, the endpoint position of the spiral (the endpoint position of the first spiral segment) is determined, where, for example... Figure 3 As shown, in the parking path geometric model, the coordinates of the endpoint of the spiral path are (x... s y s The formula for the endpoint of the spiral is:

[0092]

[0093] Where sign() is the sign function, K is the preset curvature parameter, α is the cycloid parameter, C(s) is the Fresnel integral cosine function, and S(s) is the Fresnel integral sine function. The formulas for C(s) and S(s) are as follows:

[0094]

[0095] Where s is the arc length of the first spiral curve.

[0096] Next, based on the radius of the small arc, the position of its midpoint, the position of the endpoint of the spiral, and the first constraint equation, the target constraint equation is determined. Specifically, in one possible implementation, step S303 includes:

[0097] Step S3031: Based on the endpoint position of the spiral line, the radius of the small arc, and the spiral line parameters, determine the center position corresponding to the small arc.

[0098] Step S3032, updating the first constraint equation based on the center position and the midpoint position to obtain a second constraint equation;

[0099] Step S3033, determining a target constraint equation corresponding to the clothoid parameter based on the second constraint equation.

[0100] In this embodiment, after the clothoid endpoint position is obtained, the center position corresponding to the small circular arc is determined based on the clothoid endpoint position, the radius of the small circular arc, and the clothoid parameter; wherein the formula of the center position is:

[0101]

[0102] wherein (x CO2 , y CO2 ) is the coordinate of the center position in the parking path geometric model, (x s , y s ) is the coordinate of the clothoid endpoint position in the parking path geometric model, sign() is a sign function, a is the clothoid parameter, and R O2 is the radius of the small circular arc.

[0103] Meanwhile, the midpoint position is determined based on the start point position and the endpoint position by the symmetry principle, which is the midpoint coordinate corresponding to the start point position and the endpoint position, and the specific formula is:

[0104]

[0105] wherein (x m , y m ) is the coordinate of the midpoint position in the parking path geometric model, (x0, y0) is the coordinate of the start point position in the parking path geometric model, and (x1, y1) is the coordinate of the endpoint position in the parking path geometric model.

[0106] After the center position and the midpoint position are obtained, the first constraint equation is updated based on the center position and the midpoint position to obtain a second constraint equation, specifically, the formula of the center position and the midpoint position is brought into the formula of the first constraint equation to obtain the second constraint equation.

[0107] Then, based on the second constraint equation, a target constraint equation corresponding to the clothoid parameter is determined, specifically, the formula of the target constraint equation is:

[0108]

[0109] Wherein, (x0, y0) is the coordinate of the starting point position in the parking path geometric model, the terminal point (x1, y1) is the coordinate of the terminal point position in the parking path geometric model, sign() is a sign function, K is a preset curvature parameter, a is a clothoid parameter, C(s) is a Fresnel integral cosine function, S(s) is a Fresnel integral sine function, R O2 is the radius of the small circular arc.

[0110] Then, the bisection method is used to solve the target constraint equation to obtain the target clothoid parameter a.

[0111] The method for optimizing the mine car parking path planning based on the clothoid and the circular arc line provided in the embodiment obtains the clothoid endpoint position corresponding to the first segment of the clothoid in the clothoid and the radius of the small circular arc, then determines the target constraint equation based on the radius of the small circular arc, the midpoint position, the clothoid endpoint position and the first constraint equation, and the target constraint equation can be accurately obtained through the clothoid endpoint position, thereby improving the accuracy of the target parking path with continuous curvature, reducing the probability of the mine car turning in place due to the discontinuous curvature of the parking path in the parking process, reducing the wear of the mine car tires in the parking process, providing a more reasonable and more convenient parking path to track, and improving the parking control effect of the mine car.

[0112] Based on the first embodiment, the fourth embodiment of the method for optimizing the mine car parking path planning based on the clothoid and the circular arc line is provided, and in the embodiment, step S104 comprises:

[0113] Step S401, determining the clothoid arc length based on the target clothoid parameter and the radius of the small circular arc;

[0114] Step S402, determining the second central angle of the small circular arc based on the first central angle of the circular arc path and the target clothoid parameter, and determining the circular arc length based on the second central angle and the radius.

[0115] In the embodiment, after obtaining the target clothoid parameter, the clothoid arc length is calculated based on the target clothoid parameter and the radius of the small circular arc, and according to the symmetry principle, the clothoid arc length of the first segment of the clothoid before the small circular arc in the parking path geometric model is the same as the clothoid arc length of the second segment of the clothoid after the small circular arc, wherein the formula of the clothoid arc length is:

[0116] S = 2a / K = 2aR O2 ;

[0117] Wherein, S is the clothoid arc length, R O2 is the radius of the small circular arc, K is a preset curvature parameter, and a is a clothoid parameter.

[0118] Then, based on the first central angle corresponding to the circular arc path and the target clothoid parameter, a second central angle corresponding to the small circular arc is determined, and the arc length of the circular arc is determined based on the second central angle and the radius, and the specific formula is:

[0119] β = δ - α;

[0120] S circle = 2βR O2 ;

[0121] Wherein, S circle is the arc length of the circular arc, δ is half of the first central angle, β is half of the second central angle corresponding to the small circular arc, α is the target clothoid parameter, and R O2 is the radius of the small circular arc.

[0122] The mine car parking path planning optimization method based on the clothoid and the circular arc line provided in the embodiment can accurately obtain the arc length of the circular arc and the arc length of the clothoid through the target clothoid parameter, thereby improving the accuracy of the target parking path with continuous curvature, reducing the probability of in-place turning of the mine car caused by discontinuous curvature of the parking path in the parking process, reducing the wear of the mine car tires in the parking process, providing a more reasonable and convenient parking path to track, and improving the parking control effect of the mine car.

[0123] Based on the first embodiment, a fifth embodiment of the mine car parking path planning optimization method based on the clothoid and the circular arc line is provided, and in the embodiment, step S105 comprises:

[0124] Step S501, based on the arc length of the clothoid and the arc length of the circular arc, determining the curve length of the transition curve corresponding to the circular arc path;

[0125] Step S502, updating the parking path based on the curve length to obtain the target parking path.

[0126] In the embodiment, after the arc length of the clothoid and the arc length of the circular arc are obtained, the curve length of the transition curve corresponding to the circular arc path is determined based on the arc length of the clothoid and the arc length of the circular arc, and specifically, the curve length = arc length of the first clothoid + arc length of the circular arc + arc length of the second clothoid.

[0127] Then, the parking path is updated based on the curve length to obtain a target parking path, the target parking path can be obtained by replacing the circular arc path in the parking path based on the curve length, and then a parking path with continuous curvature can be obtained, the probability of turning in place of the mine car due to discontinuous curvature of the parking path in the parking process is reduced, the wear of the mine car tire in the parking process is reduced, a more reasonable and more convenient parking path to track is provided, and the parking control effect of the mine car is improved.

[0128] The mine car parking path planning optimization method based on the clothoid and the circular arc line provided in the embodiment determines the curve length of the transition curve corresponding to the circular arc path based on the clothoid arc length and the circular arc length, then updates the parking path based on the curve length to obtain the target parking path, the curve length of the target parking path can be accurately obtained, and then a parking path with continuous curvature can be obtained, the probability of turning in place of the mine car due to discontinuous curvature of the parking path in the parking process is reduced, the wear of the mine car tire in the parking process is reduced, a more reasonable and more convenient parking path to track is provided, and the parking control effect of the mine car is improved.

[0129] In addition, the embodiment of the present application also provides a computer readable storage medium, the computer readable storage medium stores a mine car parking path planning optimization program based on a clothoid and a circular arc line, and the mine car parking path planning optimization program based on the clothoid and the circular arc line is executed by the processor to realize the steps of the mine car parking path planning optimization method based on the clothoid and the circular arc line.

[0130] It should be noted that in this paper, the term "including", "containing" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or system. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0131] The above-mentioned serial numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0132] Those skilled in the art can clearly understand the above-mentioned embodiment method can be realized by means of software and the necessary general hardware platform, of course, can also be through hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application essentially or say the part of the prior art contribution can be embodied in the form of software products, the computer software product is stored in a storage medium (such as ROM / RAM, magnetic disc, optical disc) as described above, including a number of instructions to make a terminal device (may be a mobile phone, computer, server, air conditioner, or network equipment, etc.) executes the method described in various embodiments of the present application.

[0133] The above is only the preferred embodiment of the present application, not therefore limit the patent scope of the present application, any equivalent structure or equivalent flow transformation made by using the content of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A mining truck parking path planning and optimization method based on spiral and circular arcs, characterized in that, The mine truck parking path planning and optimization method based on spiral and circular arc includes the following steps: Obtain the start and end positions of the circular path in the parking path of the minecart; Based on the center position of the small arc in the transition curve corresponding to the arc path, the starting position, and the ending position, the first constraint equation is established by means of the principle of symmetry. Based on the first constraint equation, the starting position, and the ending position, the target constraint equation corresponding to the spiral line parameters is determined, and the target constraint equation is solved to obtain the target spiral line parameters. Based on the target spiral curve parameters, the spiral curve arc lengths corresponding to the spiral curves on both sides of the small circular arc in the circular arc path, and the circular arc length of the small circular arc are determined, wherein the formulas for the spiral curve arc length and the circular arc length are respectively: S is the arc length of the spiral. Let S be the radius of the small arc, K be the preset curvature parameter, α be the spiral parameter, and α be the difference in direction between the endpoint of the spiral and the starting point of the spiral. circle Let δ be the arc length of the arc, δ be half of the first central angle, and β be half of the second central angle corresponding to the smaller arc. The target parking path of the mining truck is determined based on the arc length of the spiral and the arc length of the circular arc. The step of establishing the first constraint equation based on the center position of the small arc in the transition curve corresponding to the arc path, the starting position, and the ending position, using the principle of symmetry, includes: Based on the starting point and ending point, determine the midpoint position; Obtain the first central angle corresponding to the arc path; Based on the midpoint position, the center position, and the first central angle, the first constraint equation is determined, and the formula for the first constraint equation is: ； The formula for the position of the center is: ； in,( x m ，y m () is the midpoint position, ( ) represents the coordinates of the center position in the parking path geometry model. x s ，y s ) represents the coordinates of the end point of the spiral in the parking path geometry model, and sign() is the sign function; The step of determining the target constraint equation corresponding to the spiral parameters based on the first constraint equation, the starting position, and the ending position includes: Obtain the endpoint position of the first spiral segment in the spiral, and the radius of the small arc; Based on the radius of the small arc, the position of the midpoint, the position of the end point of the spiral, and the first constraint equation, the target constraint equation is determined. The formula for the target constraint equation is: ； in,( ) represents the coordinates of the starting position in the parking path geometry model. ) represents the coordinates of the endpoint of the spiral in the parking path geometry model, K is the preset curvature parameter, C(s) is the Fresnel integral cosine function, and S(s) is the Fresnel integral sine function.

2. The mine car parking path planning and optimization method based on spiral and circular arc as described in claim 1, characterized in that, The steps of obtaining the endpoint position of the first spiral segment and the radius of the small arc include: Obtain preset curvature parameters, and determine the radius based on the preset curvature parameters; Based on the preset curvature parameters and the spiral parameters, the endpoint position of the spiral is determined.

3. The mine car parking path planning and optimization method based on spiral and circular arc as described in claim 2, characterized in that, The step of determining the target constraint equation based on the radius of the small arc, the position of the midpoint, the position of the end point of the spiral, and the first constraint equation includes: Based on the endpoint position of the spiral, the radius of the small arc, and the spiral parameters, determine the center position corresponding to the small arc; Based on the center position and the midpoint position, the first constraint equation is updated to obtain the second constraint equation; Based on the second constraint equation, the target constraint equation corresponding to the spiral parameters is determined.

4. The mine car parking path planning and optimization method based on spiral and circular arc as described in claim 1, characterized in that, The step of determining the spiral arc lengths corresponding to the spiral lines on both sides of the small circular arc in the circular arc path, and the arc length of the small circular arc, based on the target spiral line parameters, includes: The arc length of the spiral is determined based on the target spiral parameters and the radius of the small arc. Based on the first central angle corresponding to the arc path and the target spiral line parameters, the second central angle corresponding to the small arc is determined, and the arc length is determined based on the second central angle and the radius.

5. The mine car parking path planning and optimization method based on spiral and circular arc as described in claim 1, characterized in that, The step of determining the target parking path of the mining truck based on the spiral arc length and the circular arc length includes: Based on the spiral arc length and the circular arc length, determine the curve length of the transition curve corresponding to the circular arc path; The parking path is updated based on the curve length to obtain the target parking path.

6. The mine car parking path planning and optimization method based on spiral and circular arc as described in any one of claims 1 to 5, characterized in that, After the step of determining the target parking path of the mine truck based on the arc length of the spiral curve and the arc length of the circular arc, the mine truck parking path planning and optimization method based on the spiral curve and the circular arc further includes: The mine car is controlled to move based on the target parking path.

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