Method, device and system for generating a tracking trajectory of a work machine and work machine

Abstract

The application provides a track trajectory generation method, device and system of a working machine and the working machine, and the method comprises the following steps: obtaining operation information and a graphic feature in a graphic map, the operation information comprises a track trajectory generation instruction, and the graphic map is a graphic file stored or imported in advance; and determining a track trajectory of the working machine on the graphic map according to the operation information and the graphic feature. The application solves the problem that a required map cannot be generated when a GNSS signal is poor, lost or there is no GNSS device by importing a graphic map in advance and planning a track trajectory according to the graphic map and the graphic feature, and provides a new solution for solving the problem that a track point position does not match a preset point position caused by GNSS data offset during a recording process and the problem that the perception of a track is not intuitive in other methods.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a method, apparatus, system, and machine for generating tracking trajectories for operating machinery. Background Technology

[0002] Currently, fixed-route operations are very common, such as transportation in industrial parks, mining trucks, and dump trucks. In practice, cyclical line-following driving is often used to automate these processes. Generally, for trajectory generation on structured roads, sensors such as LiDAR or visual cameras are used to scan actual road information, supplemented by manual annotation, ultimately forming a high-precision road network map with a large amount of information. For trajectory generation on unstructured roads, methods such as real-time recording of GNSS positioning information or marking of routes are often used to obtain a single trajectory containing positioning point data. However, existing technologies require the installation of corresponding GNSS hardware. When the GNSS signal is poor, lost, or there is no GNSS equipment, the required trajectory points cannot be generated. Summary of the Invention

[0003] This invention provides a method, apparatus, system, and machine for generating tracking trajectories for operating machinery, in order to solve the defects of existing GNSS signals that are poor, lost, or without GNSS equipment, making it impossible to generate the required trajectory points.

[0004] A method for generating a tracking trajectory for a working machine according to a first aspect of the present invention includes:

[0005] The system acquires operational information and graphic features from a graphic map. The operational information includes a trajectory generation instruction, and the graphic map is a pre-stored or imported graphic file.

[0006] The tracking trajectory of the operating machinery on the graphic map is determined based on the operation information and the graphic features.

[0007] According to one embodiment of the present invention, the graphic map is offline map data, and the offline map data includes at least map coordinate information that identifies any point in the graphic file;

[0008] The step of obtaining graphic features from a graphic map specifically includes:

[0009] The graphic features are generated based on the map coordinate information of the graphic map.

[0010] Specifically, this embodiment provides an implementation method for obtaining graphic features in a graphic map.

[0011] According to one embodiment of the present invention, the graphic map is a topographic image and / or a plan view;

[0012] The step of obtaining graphic features from a graphic map specifically includes:

[0013] The center position of the graphic map, the target direction of the graphic map, and the offset angle are obtained. The target direction is the marked direction set on the graphic map, and the offset angle is the angle between the target direction and the north direction, or the offset angle is the input rotation angle.

[0014] Based on the center position, the target direction, and the offset angle, the graphic map is adjusted to the target position, which is the final position of the rotation of the graphic map;

[0015] The graphic feature is generated based on the target location.

[0016] Specifically, this embodiment provides another implementation method for obtaining graphic features in a graphic map.

[0017] According to one embodiment of the present invention, the step of obtaining graphic features in a graphic map specifically includes:

[0018] Based on the node features of the graphical map, the target start point and target end point of the graphical map are obtained, where the target start point and target end point are nodes selected on the graphical map.

[0019] Based on the node length features of the target starting point and the target ending point, the parameter information of the nodeized graphic map is determined. The parameter information is the information between any two nodes of the nodeized graphic map based on the input node length features.

[0020] The graphic features are generated based on the parameter information.

[0021] Specifically, this embodiment provides yet another implementation method for acquiring graphic features in a graphic map.

[0022] According to one embodiment of the present invention, the step of determining the tracking trajectory of the operating machinery on the graphic map based on the operation information and the graphic features specifically includes:

[0023] Based on the operation information, N key points selected on the graphic map are obtained, where N is a positive integer greater than or equal to 2;

[0024] Based on the graphic map and the N key points, the tracking trajectory of the operating machinery on the graphic map is determined.

[0025] Specifically, this embodiment provides an implementation method for determining the tracking trajectory of the operating machinery on the graphic map.

[0026] According to one embodiment of the present invention, the step of determining the tracking trajectory of the operating machinery on the graphic map specifically includes:

[0027] Based on N key points, the turning feature segment of the tracking trajectory is determined, and the radii of the turning feature segment are greater than or equal to a preset radii threshold.

[0028] Based on the turning feature segment, if the number of key points is determined to be less than a preset key point threshold, a first prompt message is issued, which is used to indicate that the number of key points is insufficient.

[0029] Specifically, this embodiment provides another implementation method for determining the tracking trajectory of the operating machinery on the graphic map.

[0030] According to one embodiment of the present invention, the step of determining the tracking trajectory of the operating machinery on the graphic map specifically includes:

[0031] Based on each key point selected on the graphic map, the attribute features of each key point are obtained, and the tracking trajectory is updated according to the attribute features. The attribute features include at least the speed information, gear information and position information of the working machinery at the key point.

[0032] If it is determined that among the N key points, at least one of the key points has an empty attribute feature, a second prompt message is issued.

[0033] Specifically, this embodiment provides yet another implementation method for determining the tracking trajectory of the operating machinery on the graphic map.

[0034] According to one embodiment of the present invention, the step of determining the tracking trajectory of the operating machinery on the graphic map specifically includes:

[0035] Obtain the point spacing between all adjacent key points, the heading angle of the operating machinery, and the speed characteristics of the operating machinery on the tracking trajectory;

[0036] Based on the point spacing, the heading angle, and the speed characteristics, trajectory points are added along the path of the tracking trajectory. The trajectory points are insertion points set on the tracking trajectory at preset time intervals.

[0037] The vehicle posture state of the working machine is obtained as it passes through each of the trajectory points, and a vehicle posture state cluster is generated. It is determined that each of the vehicle posture states in the vehicle posture state cluster meets a preset vehicle posture threshold, and the tracking trajectory is updated based on all the trajectory points.

[0038] Specifically, this embodiment provides another method for determining the tracking trajectory of the operating machinery on the graphic map.

[0039] According to one embodiment of the present invention, the step of determining that each vehicle posture state in the vehicle posture state cluster satisfies a preset vehicle posture threshold specifically includes:

[0040] The velocity change characteristics of two adjacent trajectory points are obtained. If the velocity characteristics do not meet the preset acceleration threshold, a third prompt message is issued.

[0041] Specifically, this embodiment provides an implementation method for determining that each vehicle posture state in the vehicle posture state cluster satisfies a preset vehicle posture threshold.

[0042] According to one embodiment of the present invention, the step of updating the tracking trajectory based on all the trajectory points specifically includes:

[0043] Obtain the curve trajectory segments and polyline trajectory segments from all the trajectory points, and perform smoothing processing based on all the curve trajectory segments and polyline trajectory segments.

[0044] Specifically, this embodiment provides an implementation method for updating the tracking trajectory based on all the trajectory points.

[0045] According to a second aspect of the present invention, a tracking trajectory generation device for a working machine includes:

[0046] The information acquisition module is used to acquire operation information and graphic features in the graphic map, wherein the graphic map is a pre-stored or imported graphic file;

[0047] The strategy generation module is used to determine the tracking trajectory of the operating machinery on the graphic map based on the operation information and the graphic features, and to generate a path planning strategy based on the tracking trajectory.

[0048] According to a third aspect of the present invention, a tracking trajectory generation system for a work machine includes a non-transitory machine-readable medium storing a computer program, wherein when the computer program is executed by a processor, it implements the steps of the above-described tracking trajectory generation method for the work machine.

[0049] It should be noted that the present invention provides a visual system for generating tracking trajectories of operating machinery. The system allows for the selection, import, and display of maps in the user interface. For maps without a coordinate system, a relative coordinate system can also be established. Multiple target trajectory points can be selected using a mouse in the user interface, and the target vehicle posture attributes when the vehicle travels to the trajectory points can be filled in. The selected trajectory points can be smoothly interpolated, optimized, and fine-tuned in the user interface. The final trajectory point cluster can be generated and saved in the user interface.

[0050] Furthermore, the system provided by this invention effectively solves the problem of discrepancies between trajectory point positions and preset points caused by GNSS data offset during recording in other solutions, as well as the problem of unintuitive perception of target trajectories in other methods. This significantly improves the perceptibility of target trajectories and reduces various costs caused by repeated deployments. In addition, this method is not limited by equipment and can still generate trajectories even without vehicles, improving deployment convenience and flexibility.

[0051] According to a fourth aspect of the present invention, a working machine executes a tracking trajectory that is generated by the tracking trajectory generation method of the working machine described above.

[0052] The above-mentioned one or more technical solutions of the present invention have at least one of the following technical effects: The present invention provides a method, device, system and working machine for generating tracking trajectories, which solves the problem of not being able to generate the required map when the GNSS signal is poor, lost or no GNSS equipment by pre-importing a graphic map and planning the tracking trajectory according to the graphic map and graphic features. It provides a new solution to the problem of the trajectory point position not matching the preset position caused by GNSS data offset during the recording process, and the lack of intuitive perception of trajectory in other methods. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0054] Figure 1 This is a flowchart illustrating the method for generating the tracking trajectory of the operating machinery provided by the present invention;

[0055] Figure 2 This is a schematic diagram of the trajectory generation device for the working machinery provided by the present invention;

[0056] Figure 3 This is a schematic diagram of the structure of the electronic device provided by the present invention.

[0057] Figure label:

[0058] 100. Information Acquisition Module; 200. Strategy Generation Module;

[0059] 810, Processor; 820, Communication interface; 830, Memory; 840, Communication bus. Detailed Implementation

[0060] 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.

[0061] The present invention will now be described in detail with reference to the accompanying drawings. The specific operation methods in the method embodiments can also be applied to the device embodiments or system embodiments. In the description of the present invention, unless otherwise stated, "at least one" includes one or more. "Multiple" refers to two or more. For example, at least one of A, B, and C includes: A existing alone, B existing alone, A and B existing simultaneously, A and C existing simultaneously, B and C existing simultaneously, and A, B, and C existing simultaneously. In the present invention, " / " means "or". For example, A / B can mean A or B. "And / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone.

[0062] The present invention will now be described in detail with reference to specific embodiments.

[0063] In some specific embodiments of the present invention, such as Figure 1 As shown, this solution provides a method for generating the tracking trajectory of a working machine, including:

[0064] Acquire operational information and graphic features from the graphic map. The operational information includes instructions for generating the tracking trajectory, and the graphic map is a pre-stored or imported graphic file.

[0065] The tracking trajectory of the operating machinery on the graphic map is determined based on the operational information and graphic features.

[0066] It should be noted that this invention enables the generation of tracking trajectories for operating machinery to be independent of network dependence by pre-storing or importing graphic files. Trajectory planning can still be performed offline. At the same time, there is no need to complete the trajectory planning in real time on hardware platforms such as actual vehicles. Instead, the tracking trajectory of operating machinery is generated directly in the operating system based on the graphic map. This effectively solves the problem of not being able to generate trajectories when the GNSS signal is weak or the device is not available, effectively expanding the applicable operating scenarios and reducing deployment costs.

[0067] Furthermore, existing trajectory planning requires actual vehicle operation, the site marking process is time-consuming, and there is no commonality of data for target locations, making it difficult to meet the needs of multi-target scenario businesses and flexible user customization. However, this invention allows for data sharing after the tracking trajectory of the operating machinery is planned in a graphic map, satisfying the commonality of tracking trajectories of the same type of operating machinery in the same map area.

[0068] In one application scenario, the present invention provides a method for generating the tracking trajectory of a work machine. By importing a map-like file, such as an offline map, aerial photograph, or plan design drawing, with or without a coordinate system, and setting the correct north direction and scale, the conversion relationship between the imported map pixels and the actual size can be determined. Then, parameters such as the position, speed, and acceleration of the required path are set, and finally, a cluster of trajectory points containing relative displacement relationships can be generated for tracking. This solves the problem of the trajectory point position not matching the preset position caused by GNSS data offset during the recording process, as well as the problem of the unintuitive perception of the trajectory in other methods.

[0069] In some possible embodiments of the present invention, the graphic map is offline map data, which includes at least map coordinate information that identifies any point in the graphic file;

[0070] The steps for obtaining graphic features from a graphic map specifically include:

[0071] Graphic features are generated based on the map coordinate information of the graphic map.

[0072] Specifically, this embodiment provides an implementation method for obtaining graphic features in a graphic map. By importing offline map data and extracting graphic features directly based on the coordinate system of the offline map data, it is possible to provide data support for the planning of the tracking trajectory of operating machinery more quickly.

[0073] In possible embodiments, the coordinate system includes at least the latitude and longitude coordinates and / or UTM coordinates of the imported graphic file. UTM stands for Universal Transverse Mercator Grid System. UTM coordinates are a type of Cartesian coordinate system. This coordinate grid system and its projection have been widely used in topographic maps, as reference grids for satellite imagery and natural resource databases, and in other applications requiring precise positioning.

[0074] In some possible embodiments of the present invention, the graphic map is a topographic image and / or a plan view;

[0075] The steps for obtaining graphic features from a graphic map specifically include:

[0076] Obtain the center position of the graphic map, the target direction of the graphic map, and the offset angle. The target direction is the marked direction set on the graphic map, and the offset angle is the angle between the target direction and the north direction, or the offset angle is the input rotation angle.

[0077] Based on the center position, target direction, and offset angle, adjust the graphic map to the target position, which is the final position of the graphic map rotation;

[0078] Generate graphic features based on the target location.

[0079] Specifically, this embodiment provides another implementation method for obtaining graphic features in a graphic map by importing terrain images or plan design drawings. These graphic files do not contain location information such as coordinate systems and latitude and longitude, but are merely images such as aerial photographs.

[0080] Furthermore, by setting or inputting parameters such as target direction, offset angle, marker direction, and rotation angle on a graphic map that does not contain location information such as coordinate system and latitude and longitude, the conversion relationship between imported map pixels and actual size can be determined. Then, parameters such as position, speed, and acceleration of the required path can be set, providing data support for the subsequent generation of trajectory point clusters containing relative displacement relationships that can be used for tracking.

[0081] Understandably, by determining the target direction and offset angle on the graphic map, and adjusting the graphic map to the target position based on the target direction and offset angle, this operation determines the standard orientation of the graphic map, such as north, providing a directional reference for planning the tracking trajectory on the graphic map.

[0082] In some possible embodiments of the present invention, the step of obtaining graphic features in a graphic map specifically includes:

[0083] Based on the node features of the graphical map, the target start point and target end point of the graphical map are obtained. The target start point and target end point are the nodes selected on the graphical map.

[0084] Based on the node length features of the input target start point and target end point, the parameter information of the nodeized graphic map is determined. The parameter information is the information between any two nodes in the nodeized graphic map based on the input node length features.

[0085] Generate graphic features based on parameter information.

[0086] Specifically, this embodiment provides another implementation method for obtaining graphic features in a graphic map. By making the graphic map into nodes, the corresponding target start point and target end point can be visually selected and marked on the graphic map, which reduces the blindness of the trajectory generation position and the generation process is not affected by factors such as weak GNSS signals.

[0087] Furthermore, since a graphical map without coordinate system, latitude and longitude, or other location information is used, the distance between the two selected starting and ending points cannot be determined after selection. Therefore, even after the trajectory is planned, it is difficult to provide support for the movement of the operating machinery. Thus, after selecting the starting and ending points, it is necessary to assign values ​​to the node length characteristics between the starting and ending points. The graphical map after assignment determines the overall parameter information based on the node length characteristics between the starting and ending points, providing data support for subsequent trajectory planning and improving the accuracy and reliability of trajectory planning. This involves making proportional adjustments to the information between any two nodes based on the node length characteristics, including adjustments to distance, height, angle, and other information.

[0088] Understandably, by selecting the target start point and target end point, and setting the page ratio of the graphic map between the target start point and target end point, it is convenient to operate on the graphic ground surface or set the route in a uniform ratio, thereby improving the accuracy and reliability of the tracking trajectory generation.

[0089] In some possible embodiments of the present invention, the step of determining the tracking trajectory of the operating machinery on the graphic map based on operational information and graphic features specifically includes:

[0090] Based on the operation information, obtain N key points selected on the graphic map, where N is a positive integer greater than or equal to 2;

[0091] Based on the graphic map and N key points, the tracking trajectory of the operating machinery on the graphic map is determined.

[0092] Specifically, this embodiment provides an implementation method for determining the tracking trajectory of operating machinery on a graphic map. By selecting key points, the accuracy of tracking trajectory planning can be improved, making the trajectory planned on the graphic map closer to the actual needs.

[0093] It should be noted that this invention differs from existing key point acquisition methods. Existing methods for acquiring key points all involve real-time recording of vehicle location information, while this invention selects key points on a visualized graphical map.

[0094] Furthermore, the hardware requirements for obtaining key points in this invention differ from existing solutions. Existing solutions all require hardware support such as GNSS / RTK and odometry / inertial navigation, and require a good GNSS signal. The trajectory generation method provided by this invention can be implemented even without GNSS equipment or signal, generating the corresponding relative position trajectory.

[0095] RTK stands for Real-time kinematic. RTK carrier phase differential technology is a method for processing the carrier phase observations of two measurement stations in real time. It sends the carrier phase collected by the base station to the user receiver to calculate the coordinates by difference.

[0096] In some possible embodiments of the present invention, the step of determining the tracking trajectory of the operating machinery on the graphic map specifically includes:

[0097] Based on N key points, the turning feature segment of the tracking trajectory is determined, and the radii of the turning feature segment are greater than or equal to a preset radii threshold.

[0098] Based on the turning feature segment, if the number of key points is less than a preset key point threshold, a first prompt message is issued to indicate that the number of key points is insufficient.

[0099] Specifically, this embodiment provides another implementation method for determining the tracking trajectory of the working machinery on the graphic map. Since each part of the graphic map has different elements, such as terrain features like plains, highways, hills, and water sources, as well as trajectory features like uphill, downhill, acceleration, deceleration, and sharp turns, after selecting the key points, it is necessary to extract the radii of the turning feature segment, i.e., the turning radius. When the radii of the turning trajectory reach the preset radii threshold, the trajectory segment needs at least the number of key points to meet the preset key point threshold in order to ensure smooth turning.

[0100] It should be noted that when the number of key points in the selected area is less than the threshold, the generated path may have low smoothness, making it difficult to guarantee the positional accuracy of the vehicle when passing through, which may result in the vehicle being unable to pass through, for example, narrow or sharp bends.

[0101] Furthermore, if the curvature of the curved feature segment is greater than or equal to a preset curvature threshold, then the segment is considered to be a non-straight line segment, such as a cross-line segment during a lane change (small turning angle), a curved road (medium turning angle), or a right-angle bend at an intersection (large turning angle).

[0102] In a possible embodiment, the process employs a third-order fixed B-spline interpolation algorithm.

[0103] In a possible embodiment, the preset key point threshold is a positive integer greater than or equal to 4.

[0104] In a possible embodiment, if the turning feature segment is determined to be greater than or equal to 90° and the number of key points selected in this segment is less than a preset key point threshold, there is a possibility of an accident, and the generated trajectory cannot successfully complete the turn. Therefore, it is necessary to issue a first prompt message indicating that the number of key points is insufficient.

[0105] In some possible embodiments of the present invention, the step of determining the tracking trajectory of the operating machinery on the graphic map specifically includes:

[0106] Based on each key point selected on the graphic map, the attribute features of each key point are obtained, and the tracking trajectory is updated according to the attribute features. The attribute features include at least the speed information, gear information and position information of the working machinery at the key point.

[0107] If at least one of the N key points has an empty attribute feature, a second prompt message is issued.

[0108] Specifically, this embodiment provides another method for determining the tracking trajectory of the working machinery on a graphic map. After each key point is selected, it is also necessary to obtain the attribute features of the corresponding key points. After confirming the corresponding attribute features of each key point, a more accurate path can be provided for the planning of the tracking trajectory, which ensures the safe driving, timely arrival and adjustment of the arrival posture of the working machinery.

[0109] In a possible embodiment, after each key point is added, a corresponding input field for attribute features or an edit field for editing the attribute features of the key point is added to the corresponding operation area to facilitate the editing of the attribute features of the key point.

[0110] In possible embodiments, the attribute characteristics of the key point include at least the traveling speed, forward or backward movement, vehicle posture, action status, and whether the machine is waiting or continuing to travel at the key point.

[0111] In some possible embodiments of the present invention, the step of determining the tracking trajectory of the operating machinery on the graphic map specifically includes:

[0112] Obtain the point spacing between all adjacent key points, the heading angle of the operating machinery, and the speed characteristics of the operating machinery on the tracking trajectory;

[0113] Based on the point spacing, heading angle and velocity characteristics, trajectory points are added along the path of the tracking trajectory. The trajectory points are interpolation points set on the tracking trajectory at preset intervals.

[0114] The vehicle posture status of the working machine at each trajectory point is obtained, and a vehicle posture status cluster is generated. It is determined that each vehicle posture status in the vehicle posture status cluster meets the preset vehicle posture threshold, and the tracking trajectory is updated based on all trajectory points.

[0115] Specifically, this embodiment provides another method for determining the tracking trajectory of the working machinery on a graphic map. After selecting all key points on the graphic map, a preliminary tracking trajectory is first formed. At this time, the precision of the preliminary tracking trajectory is insufficient, and it only roughly determines the travel route. After the preliminary tracking trajectory is determined, multiple trajectory points need to be added to the preliminary tracking trajectory in combination with the corresponding parameters. All trajectory points eventually form a point cluster. The trajectory points can be understood as the node-based approach to the preliminary tracking trajectory. Combined with the attribute characteristics of each key point, the final tracking trajectory is determined.

[0116] Furthermore, in determining the final tracking trajectory, it is necessary to combine the point spacing between two adjacent key points, the heading angle of the working machine, and the speed characteristics of the working machine, and determine the tracking trajectory from the first key point to the last key point, i.e., the final tracking trajectory, based on the attribute characteristics of each key point and the vehicle posture state of each trajectory point.

[0117] In a possible embodiment, the interpolation time difference between two adjacent trajectory points is 0.01 seconds.

[0118] In a possible embodiment, the virtual moving target of the operating machinery moves at a constant speed or with uniform acceleration as it passes through each key point and each trajectory point.

[0119] In some possible embodiments of the present invention, the step of determining that each vehicle posture state in the vehicle posture state cluster satisfies a preset vehicle posture threshold specifically includes:

[0120] The velocity change characteristics of two adjacent trajectory points are obtained. If the velocity characteristics do not meet the preset acceleration threshold, a third prompt message is issued.

[0121] Specifically, this embodiment provides an implementation method to determine that each vehicle posture state in the vehicle posture state cluster meets a preset vehicle posture threshold. When the virtual moving target of the working machinery passes through two adjacent trajectory points, its speed change characteristics do not meet the preset acceleration threshold. That is, the virtual moving target of the working machinery is in a non-uniform motion, non-uniform acceleration motion, or abnormal speed, acceleration, or turning angular velocity during the movement. This indicates that there may be a safety hazard in the working machinery. Therefore, a third prompt message is issued to facilitate the replanning of key points or corresponding attribute characteristics.

[0122] It should be noted that, due to the different graphic features on the graphic map, the operating machinery may experience changes in terrain such as plains, roads, hills, and water sources, as well as trajectory changes such as uphill, downhill, acceleration, deceleration, and sharp turns when moving between selected adjacent key points and generated adjacent trajectory points. Therefore, the attribute features input when selecting key points may not be the optimal choice and may bring safety hazards. Therefore, it is necessary to acquire and monitor speed change features.

[0123] In some possible embodiments of the present invention, the step of updating the tracking trajectory based on all trajectory points specifically includes:

[0124] Obtain the curve and polyline segments from all trajectory points, and perform smoothing processing based on all curve and polyline segments.

[0125] Specifically, this embodiment provides an implementation method for updating the tracking trajectory based on all trajectory points. By smoothing the curved trajectory segments and polyline trajectory segments, the path formed by the tracking trajectory becomes smoother, which can meet the needs of actual driving.

[0126] In some specific embodiments of the present invention, such as Figure 2 As shown, this solution provides a tracking trajectory generation device for operating machinery, comprising:

[0127] The information acquisition module 100 is used to acquire operation information and graphic features in the graphic map, which is a pre-stored or imported graphic file;

[0128] The strategy generation module 200 is used to determine the tracking trajectory of the operating machinery on the graphic map based on the operation information and graphic features, and to generate a path planning strategy based on the tracking trajectory.

[0129] It is possible that the graphic map is offline map data, which at least includes map coordinate information that identifies any point in the graphic file;

[0130] The steps for obtaining graphic features from a graphic map specifically include:

[0131] Generate graphic features based on the map coordinate information of the imported graphic map.

[0132] Specifically, this embodiment provides an implementation method for obtaining graphic features in a graphic map.

[0133] The graphic map may be a topographical image and / or a plan view;

[0134] The steps for obtaining graphic features from a graphic map specifically include:

[0135] Based on the center position of the graphic map, determine the target direction and offset angle of the graphic map. The target direction is the marked direction set on the graphic map, and the offset angle is the angle between the target direction and the north direction, or the offset angle is the input rotation angle.

[0136] Based on the center position, target direction, and offset angle, adjust the graphic map to the target position, which is the final position of the graphic map rotation;

[0137] Generate graphic features based on the target location.

[0138] Specifically, this embodiment provides another implementation method for obtaining graphic features in a graphic map.

[0139] The steps for obtaining graphic features from a graphic map may specifically include:

[0140] Based on the node features of the graphical map, the target start point and target end point of the graphical map are obtained. The target start point and target end point are the nodes selected on the graphical map.

[0141] Based on the node length characteristics of the input target start point and target end point, the parameter information of the nodeized graphic map is determined.

[0142] Generate graphic features based on parameter information.

[0143] Specifically, this embodiment provides yet another implementation method for acquiring graphic features in a graphic map.

[0144] The steps for determining the tracking trajectory of the operating machinery on the graphic map, based on operational information and graphic features, may specifically include:

[0145] Based on the operation information, obtain N key points selected on the graphic map, where N is a positive integer greater than or equal to 2;

[0146] Based on the graphic map and N key points, the tracking trajectory of the operating machinery on the graphic map is determined.

[0147] Specifically, this embodiment provides an implementation method for determining the tracking trajectory of a working machine on a graphic map.

[0148] The steps for determining the tracking trajectory of the operating machinery on a graphical map may specifically include:

[0149] Based on N key points, the turning feature segment of the tracking trajectory is determined, and the radii of the turning feature segment are greater than or equal to a preset radii threshold.

[0150] Based on the turning feature segment, if the number of key points is less than a preset key point threshold, a first prompt message is issued to indicate that the number of key points is insufficient.

[0151] Specifically, this embodiment provides another implementation method for determining the tracking trajectory of operating machinery on a graphical map.

[0152] The steps for determining the tracking trajectory of the operating machinery on a graphical map may specifically include:

[0153] Based on each key point selected on the graphic map, the attribute features of each key point are obtained, and the tracking trajectory is updated according to the attribute features. The attribute features include at least the speed information, gear information and position information of the working machinery at the key point.

[0154] If at least one of the N key points has an empty attribute feature, a second prompt message is issued.

[0155] Specifically, this embodiment provides yet another implementation method for determining the tracking trajectory of a working machine on a graphic map.

[0156] The steps for determining the tracking trajectory of the operating machinery on a graphical map may specifically include:

[0157] Obtain the point spacing between all adjacent key points, the heading angle of the operating machinery, and the speed characteristics of the operating machinery on the tracking trajectory;

[0158] Based on the point spacing, heading angle and velocity characteristics, trajectory points are added along the path of the tracking trajectory. The trajectory points are interpolation points set on the tracking trajectory at preset intervals.

[0159] The vehicle posture status of the working machine at each trajectory point is obtained, and a vehicle posture status cluster is generated. It is determined that each vehicle posture status in the vehicle posture status cluster meets the preset vehicle posture threshold, and the tracking trajectory is updated based on all trajectory points.

[0160] Specifically, this embodiment provides another method for determining the tracking trajectory of a working machine on a graphic map.

[0161] The step of determining that each vehicle posture state in the vehicle posture state cluster satisfies a preset vehicle posture threshold may specifically include:

[0162] The velocity change characteristics of two adjacent trajectory points are obtained. If the velocity characteristics do not meet the preset acceleration threshold, a third prompt message is issued.

[0163] Specifically, this embodiment provides an implementation method for determining that each vehicle posture state in a vehicle posture state cluster satisfies a preset vehicle posture threshold.

[0164] The steps to update the tracking trajectory based on all trajectory points may specifically include:

[0165] Obtain the curve and polyline segments from all trajectory points, and perform smoothing processing based on all curve and polyline segments.

[0166] Specifically, this embodiment provides an implementation method for updating the tracking trajectory based on all trajectory points.

[0167] The steps for generating a path planning strategy based on the tracking trajectory may specifically include:

[0168] Obtain the model characteristics of the operating machinery corresponding to the tracking trajectory, and generate a path planning strategy based on the model characteristics and graphic characteristics.

[0169] Specifically, this embodiment provides an implementation method for generating a path planning strategy based on a tracking trajectory.

[0170] In some specific embodiments of the present invention, this solution provides a tracking trajectory generation system for a work machine, which includes a non-transitory machine-readable medium storing a computer program. When the computer program is executed by the processor 810, it implements the steps of the above-described tracking trajectory generation method for the work machine.

[0171] It should be noted that the present invention provides a visual system for generating tracking trajectories of operating machinery. The system allows for the selection, import, and display of maps in the user interface. For maps without a coordinate system, a relative coordinate system can also be established. Multiple target trajectory points can be selected using a mouse in the user interface, and the target vehicle posture attributes when the vehicle travels to the trajectory points can be filled in. The selected trajectory points can be smoothly interpolated, optimized, and fine-tuned in the user interface. The final trajectory point cluster can be generated and saved in the user interface.

[0172] Furthermore, the system provided by this invention effectively solves the problem of discrepancies between trajectory point positions and preset points caused by GNSS data offset during recording in other solutions, as well as the problem of unintuitive perception of target trajectories in other methods. This significantly improves the perceptibility of target trajectories and reduces various costs caused by repeated deployments. In addition, this method is not limited by equipment and can still generate trajectories even without vehicles, improving deployment convenience and flexibility.

[0173] It is possible that the graphic map is offline map data, which at least includes map coordinate information that identifies any point in the graphic file;

[0174] The steps for obtaining graphic features from a graphic map specifically include:

[0175] Generate graphic features based on the map coordinate information of the imported graphic map.

[0176] Specifically, this embodiment provides an implementation method for obtaining graphic features in a graphic map.

[0177] The graphic map may be a topographical image and / or a plan view;

[0178] The steps for obtaining graphic features from a graphic map specifically include:

[0179] Based on the center position of the graphic map, determine the target direction and offset angle of the graphic map. The target direction is the marked direction set on the graphic map, and the offset angle is the angle between the target direction and the north direction, or the offset angle is the input rotation angle.

[0180] Based on the center position, target direction, and offset angle, adjust the graphic map to the target position, which is the final position of the graphic map rotation;

[0181] Generate graphic features based on the target location.

[0182] Specifically, this embodiment provides another implementation method for obtaining graphic features in a graphic map.

[0183] The steps for obtaining graphic features from a graphic map may specifically include:

[0184] Based on the node features of the graphical map, the target start point and target end point of the graphical map are obtained. The target start point and target end point are the nodes selected on the graphical map.

[0185] Based on the node length characteristics of the input target start point and target end point, the parameter information of the nodeized graphic map is determined.

[0186] Generate graphic features based on parameter information.

[0187] Specifically, this embodiment provides yet another implementation method for acquiring graphic features in a graphic map.

[0188] The steps for determining the tracking trajectory of the operating machinery on the graphic map, based on operational information and graphic features, may specifically include:

[0189] Based on the operation information, obtain N key points selected on the graphic map, where N is a positive integer greater than or equal to 2;

[0190] Based on the graphic map and N key points, the tracking trajectory of the operating machinery on the graphic map is determined.

[0191] Specifically, this embodiment provides an implementation method for determining the tracking trajectory of a working machine on a graphic map.

[0192] The steps for determining the tracking trajectory of the operating machinery on a graphical map may specifically include:

[0193] Based on N key points, the turning feature segment of the tracking trajectory is determined, and the radii of the turning feature segment are greater than or equal to a preset radii threshold.

[0194] Based on the turning feature segment, if the number of key points is less than a preset key point threshold, a first prompt message is issued to indicate that the number of key points is insufficient.

[0195] Specifically, this embodiment provides another implementation method for determining the tracking trajectory of operating machinery on a graphical map.

[0196] The steps for determining the tracking trajectory of the operating machinery on a graphical map may specifically include:

[0197] Based on each key point selected on the graphic map, the attribute features of each key point are obtained, and the tracking trajectory is updated according to the attribute features. The attribute features include at least the speed information, gear information and position information of the working machinery at the key point.

[0198] If at least one of the N key points has an empty attribute feature, a second prompt message is issued.

[0199] Specifically, this embodiment provides yet another implementation method for determining the tracking trajectory of a working machine on a graphic map.

[0200] The steps for determining the tracking trajectory of the operating machinery on a graphical map may specifically include:

[0201] Obtain the point spacing between all adjacent key points, the heading angle of the operating machinery, and the speed characteristics of the operating machinery on the tracking trajectory;

[0202] Based on the point spacing, heading angle and velocity characteristics, trajectory points are added along the path of the tracking trajectory. The trajectory points are interpolation points set on the tracking trajectory at preset intervals.

[0203] The vehicle posture status of the working machine at each trajectory point is obtained, and a vehicle posture status cluster is generated. It is determined that each vehicle posture status in the vehicle posture status cluster meets the preset vehicle posture threshold, and the tracking trajectory is updated based on all trajectory points.

[0204] Specifically, this embodiment provides another method for determining the tracking trajectory of a working machine on a graphic map.

[0205] The step of determining that each vehicle posture state in the vehicle posture state cluster satisfies a preset vehicle posture threshold may specifically include:

[0206] The velocity change characteristics of two adjacent trajectory points are obtained. If the velocity characteristics do not meet the preset acceleration threshold, a third prompt message is issued.

[0207] Specifically, this embodiment provides an implementation method for determining that each vehicle posture state in a vehicle posture state cluster satisfies a preset vehicle posture threshold.

[0208] The steps to update the tracking trajectory based on all trajectory points may specifically include:

[0209] Obtain the curve and polyline segments from all trajectory points, and perform smoothing processing based on all curve and polyline segments.

[0210] Specifically, this embodiment provides an implementation method for updating the tracking trajectory based on all trajectory points.

[0211] The steps for generating a path planning strategy based on the tracking trajectory may specifically include:

[0212] Obtain the model characteristics of the operating machinery corresponding to the tracking trajectory, and generate a path planning strategy based on the model characteristics and graphic characteristics.

[0213] Specifically, this embodiment provides an implementation method for generating a path planning strategy based on a tracking trajectory.

[0214] In some specific embodiments of the present invention, this solution provides a working machine that executes a tracking trajectory generated by the above-described tracking trajectory generation method for working machines.

[0215] Figure 3 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 3 As shown, the electronic device may include a processor 810, a communication interface 820, a memory 830, and a communication bus 840. The processor 810, communication interface 820, and memory 830 communicate with each other via the communication bus 840. The processor 810 can call logical instructions from the memory 830 to execute a method for generating the tracking trajectory of the working machine.

[0216] It should be noted that the electronic device in this embodiment can be a server, a PC, or other devices, as long as its structure includes, for example, a server. Figure 3 The processor 810, communication interface 820, memory 830, and communication bus 840 shown are interconnected via the communication bus 840. The processor 810 can call logical instructions stored in the memory 830 to execute the aforementioned method. This embodiment does not limit the specific implementation of the electronic device.

[0217] The server can be a single server or a group of servers. The server group can be centralized or distributed (for example, the servers can be a distributed system).

[0218] In possible embodiments, the server can be local or remote relative to the terminal. For example, the server can access information stored in the user terminal, a database, or any combination thereof via a network.

[0219] As another example, the server can directly connect to at least one of the user terminal and the database to access the information and / or data stored therein.

[0220] In possible embodiments, the server can be implemented on a cloud platform; by way of example only, the cloud platform may include private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, inter-cloud, multi-cloud, or any combination thereof.

[0221] In possible embodiments, the server and user terminal can be implemented on an electronic device having one or more components as described in the embodiments of the present invention.

[0222] Furthermore, networks can be used for the exchange of information and / or data.

[0223] In possible embodiments, one or more components in the interaction scenario (e.g., server, user terminal, and database) may send information and / or data to other components.

[0224] In possible embodiments, the network can be any type of wired or wireless network, or a combination thereof. By way of example only, the network may include a wired network, a wireless network, a fiber optic network, a telecommunications network, an intranet, the Internet, a local area network (LAN), a wide area network (WAN), wireless local area networks (WLANs), a metropolitan area network (MAN), a public switched telephone network (PSTN), a Bluetooth network, a ZigBee network, or a near field communication (NFC) network, or any combination thereof.

[0225] In possible embodiments, the network may include one or more network access points. For example, the network may include wired or wireless network access points, such as base stations and / or network switching nodes, through which one or more components of the interaction scenario can connect to the network to exchange data and / or information.

[0226] Furthermore, the logic instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0227] Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a 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 of 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.

[0228] In a possible embodiment, the present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for generating the tracking trajectory of the working machinery provided in the above embodiments.

[0229] In a possible embodiment, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions, and when the program instructions are executed by a computer, the computer is able to perform the methods provided in the above-described method embodiments.

[0230] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0231] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of embodiments.

[0232] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for generating the tracking trajectory of a working machine, characterized in that, include: The system acquires operational information and graphic features from a graphic map. The operational information includes a trajectory generation instruction, and the graphic map is a pre-stored or imported graphic file. The tracking trajectory of the operating machinery on the graphic map is determined based on the operational information and the graphic features; The graphic map is a topographic image and / or a floor plan; The step of obtaining graphic features from a graphic map specifically includes: Obtain the center position of the graphic map, the target direction of the graphic map, and the offset angle. The target direction is the marked direction set on the graphic map, and the offset angle is the angle between the target direction and the north direction, or the offset angle is the input rotation angle. Based on the center position, the target direction, and the offset angle, the graphic map is adjusted to the target position, which is the final position of the rotation of the graphic map; The graphic features are generated based on the target location; The step of obtaining graphic features from a graphic map further includes: Based on the node features of the graphical map, the target start point and target end point of the graphical map are obtained, where the target start point and target end point are nodes selected on the graphical map. Based on the node length features of the target starting point and the target ending point, the parameter information of the nodeized graphic map is determined. The parameter information is the information between any two nodes of the nodeized graphic map based on the input node length features. The graphic features are generated based on the parameter information.

2. The method for generating the tracking trajectory of a working machine according to claim 1, characterized in that, The graphic map is offline map data, and the offline map data includes at least map coordinate information that identifies any point in the graphic file; The step of obtaining graphic features from a graphic map specifically includes: The graphic features are generated based on the map coordinate information of the graphic map.

3. The method for generating the tracking trajectory of a working machine according to claim 1 or 2, characterized in that, The step of determining the tracking trajectory of the operating machinery on the graphic map based on the operation information and the graphic features specifically includes: Based on the operation information, N key points selected on the graphic map are obtained, where N is a positive integer greater than or equal to 2; Based on the graphic map and the N key points, the tracking trajectory of the operating machinery on the graphic map is determined.

4. The method for generating the tracking trajectory of a working machine according to claim 3, characterized in that, The step of determining the tracking trajectory of the operating machinery on the graphic map specifically includes: Based on N key points, the turning feature segment of the tracking trajectory is determined, and the radii of the turning feature segment are greater than or equal to a preset radii threshold. Based on the turning feature segment, if the number of key points is determined to be less than a preset key point threshold, a first prompt message is issued, which is used to indicate that the number of key points is insufficient.

5. The method for generating the tracking trajectory of a working machine according to claim 3, characterized in that, The step of determining the tracking trajectory of the operating machinery on the graphic map specifically includes: Based on each key point selected on the graphic map, the attribute features of each key point are obtained, and the tracking trajectory is updated according to the attribute features. The attribute features include at least the speed information, gear information and position information of the working machinery at the key point. If it is determined that among the N key points, at least one of the key points has an empty attribute feature, a second prompt message is issued.

6. The method for generating the tracking trajectory of a working machine according to claim 3, characterized in that, The step of determining the tracking trajectory of the operating machinery on the graphic map specifically includes: Obtain the point spacing between all adjacent key points, the heading angle of the operating machinery, and the speed characteristics of the operating machinery on the tracking trajectory; Based on the point spacing, the heading angle, and the speed characteristics, trajectory points are added along the path of the tracking trajectory. The trajectory points are insertion points set on the tracking trajectory at preset time intervals. The vehicle posture state of the working machine is obtained as it passes through each of the trajectory points, and a vehicle posture state cluster is generated. It is determined that each of the vehicle posture states in the vehicle posture state cluster meets a preset vehicle posture threshold, and the tracking trajectory is updated based on all the trajectory points.

7. The method for generating the tracking trajectory of a working machine according to claim 6, characterized in that, The step of determining that each vehicle posture state in the vehicle posture state cluster satisfies a preset vehicle posture threshold specifically includes: The velocity change characteristics of two adjacent trajectory points are obtained, and if the velocity characteristics do not meet the preset acceleration threshold, a third prompt message is issued.

8. The method for generating the tracking trajectory of a working machine according to claim 6, characterized in that, The step of updating the tracking trajectory based on all the trajectory points specifically includes: Obtain the curve trajectory segments and polyline trajectory segments from all the trajectory points, and perform smoothing processing based on all the curve trajectory segments and polyline trajectory segments.

9. A tracking trajectory generation device for a working machine, characterized in that, include: The information acquisition module is used to acquire operation information and graphic features in the graphic map, wherein the graphic map is a pre-stored or imported graphic file; The strategy generation module is used to determine the tracking trajectory of the operating machinery on the graphic map based on the operation information and the graphic features, and to generate a path planning strategy based on the tracking trajectory. The graphic map is a topographic image and / or a floor plan; The steps for obtaining graphic features from a graphic map specifically include: The center position of the graphic map, the target direction of the graphic map, and the offset angle are obtained. The target direction is the marked direction set on the graphic map, and the offset angle is the angle between the target direction and the north direction, or the offset angle is the input rotation angle. Based on the center position, the target direction, and the offset angle, the graphic map is adjusted to the target position, which is the final position of the rotation of the graphic map; The graphic features are generated based on the target location; The step of obtaining graphic features from a graphic map further includes: Based on the node features of the graphical map, the target start point and target end point of the graphical map are obtained, where the target start point and target end point are nodes selected on the graphical map. Based on the node length features of the target starting point and the target ending point, the parameter information of the nodeized graphic map is determined. The parameter information is the information between any two nodes of the nodeized graphic map based on the input node length features. The graphic features are generated based on the parameter information.

10. A tracking trajectory generation system for a working machine, comprising a non-transient machine-readable medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the method for generating the tracking trajectory of the working machinery as described in any one of claims 1 to 8.

11. A type of operating machinery, characterized in that, The tracking trajectory being executed is the trajectory generated by the tracking trajectory generation method of the working machinery as described in any one of claims 1 to 8.

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