Mine tunnel vehicle track-based front-end display optimization method and system and electronic device

Abstract

The application discloses a front-end display optimization method and system based on mine tunnel vehicle trajectory and electronic equipment, and the method comprises the following steps: judging whether the original vehicle collection data belongs to curved road data, if yes, putting the data into the curved road data, otherwise, putting the data into the straight line data; filling the straight line data, using linear filling and keeping the heading angle unchanged; filling the curved road data, using Bezier curve filling and generating the corresponding heading angle; integrating the data, integrating the segmented straight line filling data and the curved road filling data according to the time sequence to form a new coordinate set. Through the adoption of the coordinate smoothing scheme, the application optimizes the front-end experience, improves the fluency of the map vehicle trajectory, and can be applied to the mine tunnel map and related narrow road section map front-end display page.

Description

Technical Field

[0001] This invention relates to the field of mine vehicle trajectory optimization technology, specifically to a front-end display optimization method, system, and electronic device based on mine vehicle trajectory. Background Technology

[0002] Currently, the mine track page displays the location information directly based on the vehicles' periodically reported location information, without any optimization to populate the location information. Since the vehicle location information updates every 1 second during data collection, directly displaying it on the front-end page results in noticeable visual lag. Furthermore, when vehicles are cornering, the lack of heading angle data causes issues such as the vehicle appearing to bump into walls or flickering off course.

[0003] It still has the following defects:

[0004] 1) If there is no location update data during the collection period, the display on the page will be choppy and not smooth due to insufficient granularity; 2) When the vehicle is turning, there is no corresponding heading angle data, which may cause the vehicle to appear to hit the wall or move laterally, seriously misleading the user; 3) If there are a few frame drops and no data is filled in, the vehicle will appear to flash at a long distance.

[0005] Therefore, a coordinate smoothing scheme is needed to fill in the collected data and heading angle to optimize the trajectory of mining vehicles and provide users with a better user experience. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the present invention aims to provide a method, system, and electronic device for optimizing front-end display based on mine vehicle trajectories. This invention optimizes the front-end experience by employing a coordinate smoothing scheme, improving the smoothness of map vehicle trajectories, and can be applied to the front-end display pages of mine maps and related narrow road sections.

[0007] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0008] A front-end display optimization method based on mine vehicle trajectory includes the following steps:

[0009] Determine whether the original vehicle data belongs to curve data. If it does, put it into curve data; otherwise, put it into straight data.

[0010] Fill the straight line data using linear fill while keeping the heading angle constant;

[0011] Fill in the curve data using Bézier curves and generate the corresponding heading angles;

[0012] The data is integrated by combining the segmented straight line filling data and curve filling data in chronological order to form a new coordinate set.

[0013] Preferably, the step of determining whether the original vehicle data belongs to curve data, and if so, including it in the curve data, and otherwise including it in the straight-line data, includes:

[0014] Traverse the vehicle information and find x that belongs to [x a ,x b And y∈[y a ,y b The coordinates of the points are placed in the curve data, and the rest are placed in the straight line data.

[0015] Preferably, the step of filling the straight line data using linear filling while maintaining a constant heading angle includes:

[0016] Based on adjacent coordinate points P[x1,y1] and P[x2,y2], generate the linear formula y = kx + b. Then, based on the fill density N, generate the X coordinates to be filled [x + (x2 - x1) / N, x + 2(x2 - x1) / N, x + 3(x2 - x1) / N..., x + (N - 1)(x2 - x1) / N]. Then, substitute the X coordinates into the generated linear formula to generate the corresponding Y coordinates. All fill position information maintains the same heading angle as the linear formula.

[0017] Preferably, the step of filling the curve data using Bézier curves and generating the corresponding heading angle includes:

[0018] In the curve region, three consecutive points P1, P2, and P3 are selected. The first two points, P1 and P3, are taken as the start and end points, respectively. P2 is the value of the point crossed at t = 1 / 2. Simultaneously, based on the heading angle corresponding to time P2, the intermediate control point P' is calculated. Then, based on the filling density N, values ​​are selected from t ∈ [0, 1] to obtain [X...]. 1 / N ,X 2 / N ,X 3 / N ...X (N-1) / N Using the three control points P1, P', P3 of the Bézier curve, the corresponding values ​​[b1, b2, b3...b] are calculated and obtained. (n-1) Scattered values ​​determine the fill coordinates [X] 1 / N [b1]、[X] 2 / N [b2]...[X (N-1) / N ,b (n-1) For each coordinate, the heading angle only needs to be determined based on the corresponding point. and points The slope K of a given linear line segment is converted to obtain the heading angle.

[0019] A front-end display system based on the trajectory of mining vehicles, the system comprising:

[0020] The judgment module is used to determine whether the original vehicle data belongs to curve data. If it does, it is placed in curve data; otherwise, it is placed in straight data.

[0021] A straight line data filling module is used to linearly fill a straight line area while keeping the heading angle constant.

[0022] A curve data filling module is used to fill the curve area with Bézier curves and generate the corresponding heading angle.

[0023] An integration module is used to integrate the segmented straight line filling data and curve filling data together in chronological order to form a new coordinate set.

[0024] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method.

[0025] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the method.

[0026] A vehicle including the system described above.

[0027] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0028] 1) Existing trajectories can be refined based on fill density, making periodically collected data smoother and animation display more realistic.

[0029] 2) Curve data can be used to fill in the heading angle based on the simulated curve, so that the front of the car can display a gradual steering function that matches the scene, greatly enriching the page effect.

[0030] 3) The straight-line driving data was filled in, and the collected data was refined while maintaining the original data characteristics. Attached Figure Description

[0031] Figure 1 This is a flowchart of the front-end display optimization method based on the trajectory of mining vehicles according to the present invention;

[0032] Figure 2 This is a schematic diagram illustrating the principle of using Bézier curves in this invention. Figure 1 ;

[0033] Figure 3 This is a schematic diagram illustrating the principle of using Bézier curves in this invention. Figure 2 ;

[0034] Figure 4 This is a schematic diagram illustrating the principle of using Bézier curves in this invention. Figure 3 ;

[0035] Figure 5 This is a schematic diagram illustrating the principle of using Bézier curves in this invention. Figure 4 . Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Glossary:

[0038] Vehicle location information: Represented by two-dimensional map coordinates, usually [x,y];

[0039] Fill density: The number of location information N filled in adjacent vehicle positions;

[0040] Heading angle: The rotation angle displayed on the front of the vehicle icon;

[0041] Curve area: The curve area marked in the coordinates of the mining area map, x∈[x a ,x b ],y∈[y a ,y b ].

[0042] This invention provides a front-end display optimization method, system, and electronic device based on mine vehicle trajectories to optimize mine vehicle trajectories.

[0043] To achieve the above-mentioned technical effects, the overall concept of this invention is as follows:

[0044] A front-end display optimization method based on mine vehicle trajectory includes the following steps:

[0045] 1) Determine whether the original vehicle data belongs to curve data. If it does, put it into curve data; otherwise, put it into straight data.

[0046] 2) Fill in the straight line data using linear fill, while keeping the heading angle constant;

[0047] 3) Fill in the curve data using Bézier curves and generate the corresponding heading angles;

[0048] 4) Integrate the data by combining the segmented straight line filling data and curve filling data in chronological order to form a new coordinate set.

[0049] The following is in conjunction with the appendix Figure 1-5 The embodiments of the present invention will be described in further detail below.

[0050] See Figure 1 As shown in the figure, this embodiment of the invention provides a front-end display optimization method based on the trajectory of mining vehicles. The optimization method includes the following steps:

[0051] 1) Determine whether the original vehicle data belongs to curve data. If it does, put it into curve data; otherwise, put it into straight data.

[0052] Specifically, the collected vehicle information array is segmented based on whether it belongs to curve data, and the vehicle information is traversed to find x belonging to [x a ,x b And y∈[y a ,y b The coordinates of the points are placed in the curve data, and the rest are placed in the straight line data.

[0053] 2) Fill in the straight line data using linear fill, while keeping the heading angle constant;

[0054] Specifically, a linear formula y = kx + b is generated based on adjacent coordinate points P[x1,y1] and P[x2,y2]. Then, the X coordinates to be filled [x + (x2 - x1) / N, x + 2(x2 - x1) / N, x + 3(x2 - x1) / N..., x + (N - 1)(x2 - x1) / N] are generated based on the filling density N. The corresponding Y coordinates are then substituted into the generated linear formula, thus linearly filling in the position information. Since it is a linear region, all filled position information maintains the same heading angle as the linear formula.

[0055] 3) Fill in the curve data using Bézier curves and generate the corresponding heading angles;

[0056] Specifically, the application principle of Bézier curves in this invention is explained as follows:

[0057] First, determine the control points. Here, we take three control points b0, b1, and b2 as an example (e.g., Figure 2 Given a parameter t∈[0,1], perform linear interpolation on the line segment using the value of t (e.g., Figure 3 ),Right now Similarly, the same logic can be derived from b1 and b2. (like Figure 4 ), and then Connect the two points, and then perform another linear interpolation, such as... Figure 5 Thus, they successfully obtained... Figure 5 A point on the quadratic Bézier curve below the three control points shown. Therefore, by repeating the above process for all t∈[0,1], we can obtain the following... Figure 5 The Bézier curve shown is shown.

[0058] Specifically, the usage of Bézier curves in this invention is explained as follows:

[0059] First, we locate control points. In the curve area, we select three consecutive points P1, P2, and P3. We use the first two points, P1 and P3, as the start and end points, respectively. P2 is the value of the point crossed at t = 1 / 2. Since we can obtain the heading angle at time P2 (from the collected data), we can calculate the intermediate control point P'. Then, based on the fill density N, we take values ​​from t ∈ [0,1] to obtain [X...]. 1 / N ,X 2 / N ,X 3 / N ...X (N-1) / N By calculating using the three control points P1, P', P3 of the Bézier curve, the corresponding values ​​[b1, b2, b3...b] can be obtained. (n-1) Scattered values ​​determine the fill coordinates [X]. 1 / N [b1]、[X] 2 / N [b2]...[X (N-1) / N ,b (n-1) As for the heading angle for each coordinate, it is only necessary to refer to the corresponding point. and points The slope K of a given linear line segment can be converted to obtain the heading angle.

[0060] Specifically, the calculation process for obtaining the heading angle through slope K is as follows:

[0061] The rule is that when the heading angle is 0, the vehicle is parallel to the x-axis. Then, the angle A between the line and the x-axis can be calculated using tanA = k. When the vehicle is traveling in the positive x-axis direction (which can be calculated using the x-axis coordinates of two points on the line; if the x-value of the later point is greater than that of the earlier point, it is positive; otherwise, it is negative), if the slope k < 0, then the heading angle A' = 180 - A; if k > 0, then the heading angle A' = -A. When the vehicle is moving in the negative x-axis direction, if the slope k < 0, then the heading angle A' = -A; if k > 0, then the heading angle A' = 180 - A.

[0062] 4) Integrate the data by combining the segmented straight line filling data and curve filling data in chronological order to form a new coordinate set.

[0063] This invention can be implemented on the front-end display page of mining tunnel maps and related narrow road sections, optimizing the front-end experience and improving the smoothness of vehicle trajectories on the map.

[0064] Based on the same inventive concept as the front-end display optimization method based on mine vehicle trajectory, this embodiment of the invention provides a front-end display system based on mine vehicle trajectory, the system comprising:

[0065] The judgment module is used to determine whether the original vehicle data belongs to curve data. If it does, it is placed in curve data; otherwise, it is placed in straight data.

[0066] A straight line data filling module is used to linearly fill a straight line area while keeping the heading angle constant.

[0067] A curve data filling module is used to fill the curve area with Bézier curves and generate the corresponding heading angle.

[0068] An integration module is used to integrate the segmented straight line filling data and curve filling data together in chronological order to form a new coordinate set.

[0069] Based on the same inventive concept as the front-end display optimization method embodiment based on mine vehicle trajectory, the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described above.

[0070] Based on the same inventive concept as the embodiment of the front-end display optimization method based on mine vehicle trajectory, this embodiment of the invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method described above.

[0071] Based on the same inventive concept as the front-end display system based on mine vehicle trajectory, this embodiment of the invention provides a vehicle including the system described above.

[0072] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Furthermore, any references to memory, databases, or other media used in the embodiments provided by this invention can include at least one of non-volatile and volatile memory.

[0073] The above are merely specific embodiments of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. A front-end display optimization method based on mine vehicle trajectory, characterized in that, Includes the following steps: Traverse the vehicle information and find x that belongs to [x a ,x b And y∈[y a ,y b The coordinates of the points are determined as curve data and added to the curve data; the remaining points are determined as straight line data and added to the straight line data. Fill in the straight line data. Generate the linear formula y=kx+b based on the adjacent coordinate points P[x1,y1] and P[x2,y2]. Then, generate the X coordinates to be filled [x+(x2-x1) / N, x+2(x2-x1) / N, x+3(x2-x1) / N..., x+(N-1)(x2-x1) / N] based on the fill density N. Then, substitute the X coordinates into the generated linear formula to generate the corresponding Y coordinates. All fill position information maintains the same heading angle as the linear formula. To fill the curve data, use Bézier curves. Select three consecutive points P1, P2, and P3 in the curve region, using the first two points P1 and P3 as the start and end points. P2 is the value of the point crossed at t=1 / 2. Simultaneously, calculate the intermediate control point P' based on the heading angle corresponding to time P2. Then, based on the fill density N, select values ​​from t∈[0,1] to obtain [X...]. 1 / N ,X 2 / N ,X 3 / N ...X (N-1) / N Using the three control points P1, P', P3 of the Bézier curve, the corresponding values ​​[b1, b2, b3...b] are calculated and obtained. (n-1) Scattered values ​​determine the fill coordinates [X] 1 / N [b1]、[X] 2 / N [b2]...[X (N-1) / N ,b (n-1) For each coordinate, the heading angle only needs to be determined based on the corresponding point. and The slope K of the linear line segment determined by the point is converted to obtain the heading angle; The data is integrated by combining the segmented straight line filling data and curve filling data in chronological order to form a new coordinate set; The calculation process for obtaining the heading angle through slope K is as follows: The rules stipulate that when the heading angle is 0, the vehicle is parallel to the x-axis. Then, the angle between the straight line and the x-axis is calculated using tanA=k. When the vehicle is traveling in the positive x-axis direction, if the slope k<0, the heading angle A'=180-A; if k>0, the heading angle A'=-A. When the vehicle is traveling in the opposite x-axis direction, if the slope k<0, the heading angle A'=-A; if k>0, the heading angle A'=180-A.

2. A front-end display system implementing the front-end display optimization method based on mine vehicle trajectory as described in claim 1, characterized in that, The system includes: The judgment module is used to determine whether the original vehicle data belongs to curve data. If it does, it is placed in curve data; otherwise, it is placed in straight data. A straight line data filling module is used to linearly fill a straight line area while keeping the heading angle constant. A curve data filling module is used to fill the curve area with Bézier curves and generate the corresponding heading angle. An integration module is used to integrate the segmented straight line filling data and curve filling data together in chronological order to form a new coordinate set.

3. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, it implements the method as described in claim 1.

4. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, it implements the method as described in claim 1.

5. A vehicle, characterized in that: Includes the system described in claim 2.

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