Mine site scene road slope calculation method, system, device and readable storage medium

Abstract

A mine scene road slope calculation method, system, device and readable storage medium are related to the field of intelligent driving of trucks, and specifically include determining the positioning state of a target vehicle based on a preset map corresponding to a target mine scene and real-time positioning points obtained by a vehicle positioning device; when it is detected that the positioning state of the target vehicle is a positioning not lost state or a positioning never lost to lost state, a real-time slope reference value is determined based on a real-time slope value and a real-time pitch angle value corresponding to the real-time positioning points; a current position slope value corresponding to the target vehicle is determined according to the preset map, the real-time slope reference value and the real-time pitch angle value; when it is detected that the positioning state of the target vehicle is a positioning lost state, a current position slope value is determined based on a preset slope reference calibration value corresponding to the preset map and the real-time pitch angle value. The application determines the current position slope value in combination with the real-time slope reference value and the real-time pitch angle data, thereby improving the accuracy of road slope calculation.

Description

Technical Field

[0001] This application relates to the field of intelligent driving for trucks, specifically to a method, system, device, and readable storage medium for calculating road slope in a mining area scenario. Background Technology

[0002] In the complex environments of underground mines, accurate calculation of road gradients is crucial for vehicle control. Gradients are typically expressed as a percentage, representing the ratio of road surface height change to horizontal distance. Existing gradient calculation methods primarily target simple scenarios such as straight roads or highways, relying on direct acquisition of IMU (Inertial Measurement Unit) or map data. However, in the diverse road conditions of underground mining environments, traditional single gradient calculation methods are no longer applicable.

[0003] Traditional kinematic-based methods use IMU sensors to fuse acceleration and angular velocity data to estimate slope. However, these methods are susceptible to significant noise and longitudinal acceleration interference during vehicle movement, which can affect the accuracy of slope calculations. This is particularly true in enclosed mining environments where real-time vehicle positioning information is unstable, leading to low accuracy in road slope calculations. Therefore, providing a road slope calculation method suitable for mining scenarios to improve accuracy is a pressing issue. Summary of the Invention

[0004] This application provides a method, system, device, and readable storage medium for calculating road slope in mining areas, which can solve the technical problem of low accuracy in calculating road slope in mining areas in the prior art.

[0005] In a first aspect, embodiments of this application provide a method for calculating road slope in a mining area scenario, the method comprising:

[0006] The positioning status of the target vehicle is determined based on the preset map corresponding to the target mining area scene and the real-time positioning points obtained by the vehicle positioning device. The positioning status of the target vehicle includes the positioning status not lost, the positioning status from never lost to lost, and the positioning status lost.

[0007] When the target vehicle's location status is detected as either "location not lost" or "location never lost to lost", the real-time slope reference value is determined based on the real-time slope value and real-time pitch angle value corresponding to the real-time location point.

[0008] The current position slope value corresponding to the target vehicle is determined based on the preset map, real-time slope reference value, and real-time pitch angle value.

[0009] When it is detected that the positioning state of the target vehicle is in the positioning loss state, a current position slope value corresponding to the target vehicle is determined based on a preset slope reference calibration value corresponding to the preset map and the real-time pitch value.

[0010] In combination with the first aspect, in an implementation, the number of real-time positioning points is a plurality, and the real-time slope reference value is determined based on real-time slope values and real-time pitch values corresponding to the real-time positioning points, including:

[0011] The real-time slope values and the real-time pitch values corresponding to the plurality of real-time positioning points are subjected to mean value processing to obtain a real-time slope mean value and a real-time pitch mean value;

[0012] The real-time slope mean value and the real-time pitch mean value are subjected to difference processing to obtain the real-time slope reference value.

[0013] In combination with the first aspect, in an implementation, the current position slope value corresponding to the target vehicle is determined according to the preset map, the real-time slope reference value and the real-time pitch value, including:

[0014] When it is detected that the target vehicle is in the positioning non-loss state, the current position slope value is obtained based on the preset map;

[0015] When it is detected that the target vehicle is in the positioning non-loss state, the current position slope value is obtained based on the preset map;

[0016] In combination with the first aspect, in an implementation, the current position slope value is determined based on the real-time slope reference value and the real-time pitch value, including:

[0017] The real-time slope reference value and the real-time pitch value are substituted into a first calculation formula to obtain the current position slope value, and the first calculation formula is:

[0018]

[0019] In the formula, is a multiplication factor for converting radian units to angle units; VehDa_rSlop_mp is the current position slope value; IMU_pitch is the real-time pitch value; and pitch_ZERO is the real-time slope reference value.

[0020] In combination with the first aspect, in an implementation, the current position slope value corresponding to the target vehicle is determined based on a preset slope reference calibration value corresponding to the preset map and the real-time pitch value, including:

[0021] The preset slope reference calibration value and the real-time pitch angle are substituted into a second calculation formula to obtain a current position slope value, and the second calculation formula is:

[0022]

[0023] In the formula, is a multiplication factor for converting radians to angle units; VehDa_rSlop_mp is the current position slope value; IMU_pitch is the real-time pitch angle value; and pitch_ZERO_tmp is the preset slope reference calibration value.

[0024] In a second aspect, an embodiment of the present application provides a mine scene road slope calculation system, which comprises:

[0025] A first processing module is configured to determine a positioning state of a target vehicle based on a preset map corresponding to a target mine scene and real-time positioning points obtained by a vehicle positioning device, wherein the positioning state of the target vehicle comprises a positioning not lost state, a positioning never lost to lost state, and a positioning lost state.

[0026] A second processing module is configured to determine a real-time slope reference value based on a real-time slope value corresponding to the real-time positioning points and a real-time pitch angle value when it is detected that the positioning state of the target vehicle is the positioning not lost state or the positioning never lost to lost state.

[0027] A third processing module is configured to determine a current position slope value corresponding to the target vehicle according to the preset map, the real-time slope reference value, and the real-time pitch angle value.

[0028] A fourth processing module is configured to determine a current position slope value corresponding to the target vehicle based on a preset slope reference calibration value corresponding to the preset map and the real-time pitch angle value when it is detected that the positioning state of the target vehicle is the positioning lost state.

[0029] In combination with the second aspect, in an embodiment, the number of real-time positioning points is multiple, and the second processing module is specifically configured to:

[0030] The real-time slope values corresponding to the multiple real-time positioning points and the real-time pitch angle values are subjected to mean value processing to obtain a real-time slope mean value and a real-time pitch angle mean value.

[0031] The real-time slope mean value and the real-time pitch angle mean value are subjected to difference processing to obtain the real-time slope reference value.

[0032] In combination with the second aspect, in an embodiment, the third processing module is specifically configured to:

[0033] When the target vehicle is detected to be in a state where its location has not been lost, the current location slope value is obtained based on the preset map.

[0034] When the target vehicle is detected to be in a state from being never lost to being lost, the current location slope value is determined based on the real-time slope reference value and the real-time pitch angle value.

[0035] Thirdly, this application provides a mining area scene road slope calculation device, which includes a processor, a memory, and a mining area scene road slope calculation program stored in the memory and executable by the processor. When the mining area scene road slope calculation program is executed by the processor, it implements the steps of the mining area scene road slope calculation method as described in any of the preceding claims.

[0036] Fourthly, embodiments of this application provide a computer-readable storage medium storing a road slope calculation program for a mining area scene, wherein when the road slope calculation program for the mining area scene is executed by a processor, it implements the steps of the road slope calculation method for the mining area scene as described in any of the preceding claims.

[0037] The beneficial effects of the technical solutions provided in this application include:

[0038] By accurately identifying the target vehicle's positioning status (not lost, never lost to lost, lost) using a preset map corresponding to the target mining area scene and real-time positioning points obtained by the vehicle-mounted positioning device, this precise status identification avoids positioning instability caused by signal interference or environmental obstruction. When the target vehicle's positioning status is detected as "position not lost" or "position never lost to lost," a real-time slope reference value is determined based on the real-time slope and pitch angle values. Then, based on the preset map, the real-time slope reference value, and the real-time pitch angle value, the current position slope value corresponding to the target vehicle is determined. When the target vehicle's positioning status is detected as "position lost," the current position slope value is determined based on the preset slope reference calibration value and the real-time pitch angle value. Even when positioning information is unavailable, accurate calculation of road slope is still provided, ensuring safe driving and operation of vehicles in the mining environment. This application effectively avoids the problem of unstable vehicle positioning information in the closed environment of the mining area and significantly improves the accuracy and reliability of road slope calculation. Attached Figure Description

[0039] Figure 1 This is a flowchart illustrating an embodiment of the method for calculating road slope in a mining area scenario according to this application.

[0040] Figure 2 For this application Figure 1 A detailed flowchart of step S10;

[0041] Figure 3 For the detailed flowchart of step S20 in the present application Figure 1

[0042] Figure 4 For the architecture diagram of the mine site scenario road slope calculation system embodiment of the present application

[0043] Figure 5 For the hardware structure diagram of the mine site scenario road slope calculation device involved in the embodiment scheme of the present application DETAILED DESCRIPTION

[0044] In order for those skilled in the art to better understand the present application scheme, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0045] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the drawings.

[0046] In a first aspect, the embodiments of the present application provide a mine site scenario road slope calculation method.

[0047] In an embodiment, with reference to Figure 1 , Figure 1 For the flowchart of the mine site scenario road slope calculation method embodiment of the present application. As shown in Figure 1 The mine site scenario road slope calculation method comprises:

[0048] Step S10: determining the positioning state of the target vehicle based on the preset map corresponding to the target mine site scenario and the real-time positioning point obtained by the vehicle positioning device, wherein the positioning state of the target vehicle comprises a positioning not lost state, a positioning never lost to lost state and a positioning lost state.

[0049] Demonstratively, in the embodiments of the present application, the preset map corresponding to the target mine site scenario can be recorded in advance, the vehicle positioning device comprises a laser radar, a global positioning system, an inertial navigation system, etc. The embodiments of the present application can obtain the real-time positioning point corresponding to the target vehicle through the laser radar, which represents the x, y, z values corresponding to the target vehicle in the world coordinate system. For example, the distance between each real-time positioning point is set to 10 cm, and 100 real-time positioning points can be selected, so that the total distance corresponding to the real-time positioning points is 0.1 m*100=1 m.

[0050] ​Specifically, the real-time positioning point acquired by the laser radar is matched with the coordinate point in the preset map, and whether the positioning state of the vehicle is normal is determined according to the matching result; if the real-time positioning point acquired by the laser radar is consistent with the coordinate point in the map, it indicates that the positioning point matching is normal, and the positioning state of the target vehicle is in the positioning not lost state.

[0051] It should be noted that the count variable threshold pitch_ZERO_flag can be set to determine whether the positioning data of the target vehicle is a normal value within a certain time in an accumulated manner, and the specific value of the count variable threshold pitch_ZERO_flag can be determined according to actual needs, which is not limited herein; for example, the count variable threshold pitch_ZERO_flag can be set to 100. Then, if the real-time positioning point acquired by the laser radar is inconsistent with the coordinate point in the map, it indicates that the positioning point matching is not normal, and the value of the real-time count variable pitch_ZERO_flags is detected at this time, and whether the target vehicle is in the positioning never lost to lost state or in the positioning lost state is determined according to the size between the real-time count variable pitch_ZERO_flags and the count variable threshold pitch_ZERO_flag.

[0052] Step S20: When it is detected that the positioning state of the target vehicle is in the positioning not lost state or the positioning never lost to lost state, a real-time slope reference value is determined based on a real-time slope value corresponding to the real-time positioning point and a real-time pitch angle value.

[0053] For example, in the embodiment of the present application, when it is detected that the positioning state of the target vehicle is in the positioning not lost state or the positioning never lost to lost state, the real-time slope value corresponding to the real-time positioning point can be acquired by the laser radar, and the real-time pitch angle corresponding to the real-time positioning point can be acquired by the IMU; and then the real-time slope reference value is determined according to the real-time slope value and the real-time pitch angle.

[0054] Step S30: A current position slope value corresponding to the target vehicle is determined according to the preset map, the real-time slope reference value and the real-time pitch angle value.

[0055] For example, in the embodiment of the present application, when it is detected that the positioning state of the target vehicle is in the positioning not lost state or the positioning never lost to lost state, the current position slope value corresponding to the target vehicle can be determined according to the calculated real-time slope reference value, the slope data corresponding to the coordinate point in the preset map and the real-time pitch angle.

[0056] Step S40: When it is detected that the positioning state of the target vehicle is in the positioning lost state, a current position slope value corresponding to the target vehicle is determined based on a preset slope reference calibration value corresponding to the preset map and the real-time pitch angle value.

[0057] Exemplarily, in the embodiments of the present application, the preset slope reference calibration value can be determined according to actual needs, which is not limited herein. For example, the preset slope reference calibration value can be calibrated when the target vehicle is driving on a flat road in a mine scene. When it is detected that the real-time count variable pitch_ZERO_flags is less than the count variable threshold pitch_ZERO_flag, it indicates that the positioning is always in a lost state, and there is no slope reference value that can be used as a reference. At this time, the current road slope value corresponding to the target vehicle can be determined according to the preset slope reference value and the real-time pitch angle.

[0058] The present application accurately identifies the positioning state (not lost, from not lost to lost, lost) of the target vehicle through the preset map corresponding to the target mine scene and the real-time positioning points obtained by the vehicle-mounted positioning device. This accurate state identification avoids the problem of unstable positioning caused by signal interference or environmental obstruction. When it is detected that the positioning state of the target vehicle is in the positioning not lost state or the positioning from not lost to lost state, the real-time slope reference value is determined according to the real-time slope and pitch angle value, and the current position slope value corresponding to the target vehicle is determined according to the preset map, the real-time slope reference value and the real-time pitch angle value. When it is detected that the positioning state of the target vehicle is in the positioning lost state, the slope value of the current position is determined according to the preset slope reference calibration value and the real-time pitch angle value. The present application still provides accurate calculation of the road slope when the positioning information is not available, which ensures the safe driving and operation of the vehicle in the mine environment. The present application effectively avoids the problem of unstable positioning information of the vehicle in the closed environment of the mine, and significantly improves the accuracy and reliability of the road slope calculation.

[0059] Further, in an embodiment, referring to FIG. 1, the number of real-time positioning points is multiple, and the real-time slope reference value is determined based on the real-time slope value and the real-time pitch angle value corresponding to the real-time positioning points, including: Figure 2

[0060] Step S101: performing mean value processing on the real-time slope value and the real-time pitch angle value corresponding to multiple real-time positioning points to obtain a real-time slope mean value and a real-time pitch angle mean value;

[0061] Step S102: performing difference processing on the real-time slope mean value and the real-time pitch angle mean value to obtain a real-time slope reference value.

[0062] Exemplarily, in the embodiments of the present application, the number of real-time positioning points is multiple, and the real-time slope reference value can be obtained by performing mean value processing on the real-time slope value and the real-time pitch angle value of multiple real-time positioning points to obtain a real-time slope mean value and a real-time pitch angle mean value, and then performing difference processing on the real-time slope mean value and the real-time pitch angle mean value to obtain a more accurate real-time slope reference value. Specifically, the determination method of the real-time slope reference value is described below taking 10 real-time positioning points as an example:​

[0063] Step E1: Obtain 10 real-time slope values M1, M2, M3, M4, M5, M6, M7, M8, M9, M10 and 10 real-time pitch angle values N1, N2, N3, N4, N5, N6, N7, N8, N9, N10.

[0064] Step E2: Calculate the average values of the ten groups of slopes and the average values of the ten groups of pitch angles, and convert the slope percentage to the corresponding angle value to obtain the average slope value temp1 and the average pitch angle value temp2.

[0065] Step E3: Calculate the difference between the average slope value temp1 and the average pitch angle value temp2 as the real-time slope reference value, i.e. the real-time slope reference value pitch_ZERO = temp1-temp2.

[0066] It should be noted that the determination method of the real-time slope reference value can also be realized by code. Taking 100 real-time positioning points (10 points per group, a total of 10 groups) as an example, the specific steps are as follows:

[0067] Step F1: Initialize arrays and variables, slope_map_array and pitch_imu_array are used to store the slope values and pitch angle values of the ten groups of positioning points respectively; pitch_ZERO is the slope reference value.

[0068] Step F2: Data filling, use a loop to move the data of the first nine groups forward, and assign new values to the position of the last group, i.e. the latest slope value slope_map_array and pitch angle value pitch_imu_array.

[0069] Step F3: Calculate the cumulative sum and average value, use a loop to calculate the cumulative sum of all values in slope_map_array and pitch_imu_array; divide the cumulative sum by 10 to obtain the average values temp3 and temp4 of the slope and pitch angle.

[0070] Step F4: Convert the slope value, use the arctangent function std::atan to convert the slope percentage to an angle value, and multiply it by 57.3 (180 / π) to convert it to degrees.

[0071] Step F5: Calculate the slope reference value pitch_ZERO, which is the average value of the slope temp3 minus the average value of the pitch angle temp4.

[0072] Further, in an embodiment, referring to Figure 3 As shown, the current position slope value corresponding to the target vehicle is determined according to the preset map, the real-time slope reference value and the real-time pitch angle value, which comprises:

[0073] Step S201: When the target vehicle is detected to be in a state where its location has not been lost, obtain the current location slope value based on the preset map;

[0074] Step S202: When the target vehicle is detected to be in a state from never being lost to being lost, the current position slope value is determined based on the real-time slope reference value and the real-time pitch angle value.

[0075] As an example, in this embodiment of the application, it is assumed that the location loss flag is LocationEx_Flag. When the location loss flag LocationEx_Flag is detected to be 0, it indicates that the target vehicle is in a location-not-lost state. Then, the slope value VehDa_rSlop_mp of the current location can be obtained from the pre-recorded map data (preset map).

[0076] When the LocationEx_Flag flag is detected to be 1, it indicates that the location has been lost. At this time, the location status of the target vehicle is determined based on the value of the real-time counter variable. When the real-time counter variable pitch_ZERO_flags is detected to be 101 (101>100), it indicates that there was normal location data before the location was lost. At this time, the corresponding real-time slope reference value is calculated based on the existing normal location data, and then the current road slope value is determined based on the real-time slope reference value and the real-time pitch angle.

[0077] Further, in one embodiment, determining the current location slope value based on the real-time slope reference value and the real-time pitch angle value includes:

[0078] Substituting the real-time slope reference value and the real-time pitch angle value into the first calculation formula yields the current location slope value. The first calculation formula is:

[0079]

[0080] In the formula, The multiplication factor for converting radians to degrees; VehDa_rSlop_mp is the slope value at the current location; IMU_pitch is the real-time pitch angle value; pitch_ZERO is the real-time slope reference value.

[0081] As an example, in this embodiment of the application, the real-time pitch angle value IMU_pitch and the real-time slope reference value pitch_ZERO are substituted into the following calculation formula to obtain the current position slope value VehDa_rSlop_mp, the calculation formula is as follows:

[0082]

[0083] Further, in an embodiment, the current position slope value corresponding to the target vehicle is determined based on the preset slope reference calibration value corresponding to the preset map and the real-time pitch angle value, and the determining includes:

[0084] The preset slope reference calibration value and the real-time pitch angle are substituted into a second calculation formula to obtain the current position slope value, and the second calculation formula is:

[0085]

[0086] In the formula, is a multiplication factor for converting radian units into angle units; VehDa_rSlop_mp is the current position slope value; IMU_pitch is the real-time pitch angle value; and pitch_ZERO_tmp is the preset slope reference calibration value.

[0087] For example, in the embodiment, the preset slope reference calibration value pitch_ZERO_tmp and the real-time pitch angle IMU_pitch are substituted into a calculation formula to obtain the current position slope value VehDa_rSlop_mp, and the calculation formula is as follows:

[0088]

[0089] In a second aspect, the embodiment also provides a mine site scene road slope calculation system, which refers to Figure 4 As shown in the figure, the mine site scene road slope calculation system includes:

[0090] A first processing module is configured to determine a positioning state of a target vehicle based on a preset map corresponding to a target mine site scene and a real-time positioning point obtained by a vehicle positioning device, and the positioning state of the target vehicle includes a positioning not lost state, a positioning never lost to lost state, and a positioning lost state.

[0091] A second processing module is configured to determine a real-time slope reference value based on a real-time slope value corresponding to the real-time positioning point and a real-time pitch angle value when it is detected that the positioning state of the target vehicle is the positioning not lost state or the positioning never lost to lost state.

[0092] A third processing module is configured to determine a current position slope value corresponding to the target vehicle according to the preset map, the real-time slope reference value, and the real-time pitch angle value.

[0093] A fourth processing module is configured to determine a current position slope value corresponding to the target vehicle based on a preset slope reference calibration value corresponding to the preset map and the real-time pitch angle value when it is detected that the positioning state of the target vehicle is the positioning lost state.

[0094] Further, in an embodiment, the number of real-time positioning points is multiple, and the second processing module is specifically configured to:

[0095] The real-time slope values and the real-time pitch angle values corresponding to the multiple real-time positioning points are subjected to mean value processing to obtain a real-time slope mean value and a real-time pitch angle mean value;

[0096] The real-time slope mean value and the real-time pitch angle mean value are subjected to difference processing to obtain a real-time slope reference value.

[0097] Further, in an embodiment, the third processing module is specifically configured to:

[0098] When it is detected that the target vehicle is in a positioning non-loss state, a current position slope value is obtained based on a preset map;

[0099] When it is detected that the target vehicle is in a positioning non-loss state, a current position slope value is obtained based on a preset map;

[0100] Further, in an embodiment, the third processing module is specifically configured to:

[0101] The real-time slope reference value and the real-time pitch angle value are substituted into a first calculation formula to obtain the current position slope value, and the first calculation formula is:

[0102]

[0103] In the formula, is a multiplication factor for converting radian units into angle units; VehDa_rSlop_mp is the current position slope value; IMU_pitch is the real-time pitch angle value; and pitch_ZERO is the real-time slope reference value.

[0104] Further, in an embodiment, the fourth processing module is specifically configured to:

[0105] The preset slope reference calibration value and the real-time pitch angle are substituted into a second calculation formula to obtain the current position slope value, and the second calculation formula is:

[0106]

[0107] In the formula, is a multiplication factor for converting radian units into angle units; VehDa_rSlop_mp is the current position slope value; IMU_pitch is the real-time pitch angle value; and pitch_ZERO_tmp is the preset slope reference calibration value.

[0108] The application accurately identifies the positioning state (not lost, from not lost to lost, lost) of the target vehicle through the preset map corresponding to the target mine scene and the real-time positioning point obtained by the vehicle positioning device. This accurate state identification avoids the problem of unstable positioning caused by signal interference or environmental obstruction. When the positioning state of the target vehicle is detected as not lost or from not lost to lost, the real-time slope reference value is determined according to the real-time slope and pitch angle value, and the current position slope value corresponding to the target vehicle is determined according to the preset map, the real-time slope reference value and the real-time pitch angle value. When the positioning state of the target vehicle is detected as lost, the slope value of the current position is determined according to the preset slope reference value and the real-time pitch angle value. The application still provides accurate calculation of the road slope when the positioning information is unavailable, ensuring the safe driving and operation of the vehicle in the mine environment. The application effectively avoids the problem of unstable positioning information of the vehicle in the closed environment of the mine, and significantly improves the accuracy and reliability of the road slope calculation.

[0109] The functions of each module in the mine scene road slope calculation system correspond to the steps in the mine scene road slope calculation method embodiment, and the functions and implementation processes are not repeated here.

[0110] In a third aspect, the embodiments of the application provide a mine scene road slope calculation device. The mine scene road slope calculation device can be a personal computer (PC), a notebook computer, a server, or other devices with data processing functions.

[0111] Reference Figure 5 , Figure 5 The hardware structure of the mine scene road slope calculation device involved in the embodiments of the application is shown in the figure. In the embodiments of the application, the mine scene road slope calculation device can include a processor, a memory, a communication interface, and a communication bus.

[0112] The communication bus can be of any type, used to interconnect the processor, the memory, and the communication interface.

[0113] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces, which are used to interconnect the devices inside the mine scene road slope calculation device, and are used to interconnect the mine scene road slope calculation device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber interface, an ATM interface, etc.; the user device can be a display (Display), a keyboard (Keyboard), etc.

[0114] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0115] The processor can be a general-purpose processor, which can call the road slope calculation program for the mining scene stored in the memory and execute the road slope calculation method for the mining scene provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the road slope calculation program for the mining scene is called can refer to the various embodiments of the road slope calculation method for the mining scene of this application, and will not be repeated here.

[0116] Those skilled in the art will understand that Figure 5 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0117] Fourthly, embodiments of this application also provide a readable storage medium.

[0118] The present application stores a road slope calculation program for a mining scene on a readable storage medium, wherein when the road slope calculation program for a mining scene is executed by a processor, it implements the steps of the road slope calculation method for a mining scene as described above.

[0119] The method implemented when the road slope calculation program for the mining area scene is executed can be referred to in the various embodiments of the road slope calculation method for the mining area scene of this application, and will not be repeated here.

[0120] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0121] In the description of the embodiments of the present application, "exemplary", "for example", or "e.g." is used to represent that an example, illustration, or description is made. Any embodiment or design scheme described as "exemplary", "for example", or "e.g." in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words "exemplary", "for example", or "e.g." are intended to present the relevant concept in a specific manner.

[0122] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in the text only represents a description of the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0123] In some of the processes described in the embodiments of the present application, a plurality of operations or steps are included in a specific order, but it should be understood that these operations or steps can be executed or in parallel without the order in which they appear in the embodiments of the present application, and the serial number of the operation is only used to distinguish different operations, and the serial number itself does not represent any execution order. In addition, these processes can include more or fewer operations, and these operations or steps can be executed in sequence or in parallel, and these operations or steps can be combined.

[0124] It should be noted that the serial numbers of the above embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0125] Through the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and necessary general hardware platform, of course, it can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a plurality of instructions for making a terminal device execute the method described in each embodiment of the present application.

[0126] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation made by using the content of the specification and drawings, or directly or indirectly applied to other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for calculating road slope in a mine site scenario, characterized by, The mine scene road slope calculation method comprises: Determine the positioning state of the target vehicle based on the preset map corresponding to the target mine scene and the real-time positioning points obtained by the vehicle positioning device, wherein the positioning state of the target vehicle comprises a positioning not lost state, a positioning from never lost to lost state and a positioning lost state; When it is detected that the positioning state of the target vehicle is the positioning not lost state or the positioning from never lost to lost state, determine a real-time slope reference value based on the real-time slope value and the real-time pitch angle value corresponding to the real-time positioning points; Determine the current position slope value corresponding to the target vehicle according to the preset map, the real-time slope reference value and the real-time pitch angle value; When it is detected that the positioning state of the target vehicle is the positioning lost state, determine the current position slope value corresponding to the target vehicle based on the preset slope reference calibration value corresponding to the preset map and the real-time pitch angle value, wherein the preset slope reference calibration value is calibrated when the target vehicle travels on a flat road surface in the mine scene; The method comprises: When it is detected that the target vehicle is in the positioning not lost state, obtain the current position slope value based on the preset map; When it is detected that the target vehicle is in the positioning from never lost to lost state, determine the current position slope value based on the real-time slope reference value and the real-time pitch angle value.

2. The mine site scene road grade computation method of claim 1, wherein, The number of real-time positioning points is multiple, and the real-time slope reference value is determined based on the real-time slope value and the real-time pitch angle value corresponding to the real-time positioning points, which comprises: Perform mean value processing on the real-time slope value and the real-time pitch angle value corresponding to multiple real-time positioning points to obtain a real-time slope mean value and a real-time pitch angle mean value; Perform difference processing on the real-time slope mean value and the real-time pitch angle mean value to obtain a real-time slope reference value.

3. The mine site scene road grade computation method of claim 1, wherein, The current position slope value is determined based on the real-time slope reference value and the real-time pitch angle value, which comprises: Substitute the real-time slope reference value and the real-time pitch angle value into a first calculation formula to obtain the current position slope value, wherein the first calculation formula is: wherein is a multiplication factor for converting radian units to angular units; is a current position grade value; is a real-time pitch angle value; is a real-time grade reference value.

4. The mine property scene road grade calculation method of claim 1 wherein, The current position slope value corresponding to the target vehicle is determined based on the preset slope reference calibration value corresponding to the preset map and the real-time pitch angle value, which comprises: Substitute the preset slope reference calibration value and the real-time pitch angle value into a second calculation formula to obtain the current position slope value, wherein the second calculation formula is: In the formula, is a multiplication factor for converting radian units to angle units; is a current position slope value; is a real-time pitch angle value; is a preset slope reference calibration value.

5. A mine site scene road grade calculation system, characterized by, The mine scene road slope calculation system comprises: A first processing module is configured to determine the positioning state of the target vehicle based on the preset map corresponding to the target mine scene and the real-time positioning points obtained by the vehicle positioning device, wherein the positioning state of the target vehicle comprises a positioning not lost state, a positioning from never lost to lost state and a positioning lost state; A second processing module is configured to determine a real-time slope reference value based on the real-time slope value and the real-time pitch angle value corresponding to the real-time positioning points when it is detected that the positioning state of the target vehicle is the positioning not lost state or the positioning from never lost to lost state; a third processing module configured to determine a current position slope value corresponding to the target vehicle according to the preset map, a real-time slope reference value, and a real-time pitch angle value; a fourth processing module configured to, when detecting that the positioning state of the target vehicle is a positioning loss state, determine the current position slope value corresponding to the target vehicle based on a preset slope reference calibration value corresponding to the preset map and the real-time pitch angle value, and calibrate the preset slope reference calibration value when the target vehicle travels on a flat road in the mine site scenario; the third processing module is further configured to: when detecting that the target vehicle is in a positioning non-loss state, acquire the current position slope value based on the preset map; when detecting that the target vehicle is in a positioning state from never loss to loss, determine the current position slope value based on the real-time slope reference value and the real-time pitch angle value.

6. The mine site scene road grade computation system of claim 5, wherein, The number of real-time positioning points is multiple, and the second processing module is specifically configured to: perform mean value processing on real-time slope values and real-time pitch angle values corresponding to the multiple real-time positioning points to obtain a real-time slope mean value and a real-time pitch angle mean value; perform difference processing on the real-time slope mean value and the real-time pitch angle mean value to obtain the real-time slope reference value.

7. A mine site scene road slope computation device characterized by comprising: The mine site scenario road slope calculation device includes a processor, a memory, and a mine site scenario road slope calculation program stored in the memory and executable by the processor, and when the mine site scenario road slope calculation program is executed by the processor, the steps of the mine site scenario road slope calculation method according to any one of claims 1 to 4 are implemented.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a mine site scenario road slope calculation program, and when the mine site scenario road slope calculation program is executed by the processor, the steps of the mine site scenario road slope calculation method according to any one of claims 1 to 4 are implemented.

Images