Transportation method for double-track main tunnel construction of extra-long inclined shaft auxiliary tunnel

Abstract

The invention relates to the technical field of tunnel construction, in particular to an extra-long inclined shaft auxiliary tunnel double-track main tunnel construction transportation method which comprises the following steps that S1, a transportation vehicle uploads vehicle state data to a control background, and a construction site submits a material transportation report to the control background according to construction requirements, the control background allocates a transport task to each transport vehicle according to the submitted report and the vehicle information, and the transport vehicle requests path planning from the control background after receiving the transport task; s2, a high-precision map file of the extra-long inclined shaft auxiliary tunnel is input into a control background, the control background analyzes the map file according to a high-precision map labeling protocol and stores the map file into a database, after the control background receives a planning request sent by a transport vehicle, the control background constructs a high-precision map directed topological graph according to the analyzed file, and the high-precision map directed topological graph is sent to the transport vehicle; the problems that according to an existing transportation method, workers generally arrange vehicle transportation according to materials needed by places, the intelligent degree of the operation process is low, and the working efficiency is not high can be effectively solved.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel construction, and in particular to a double-line main tunnel construction and transportation method for an extra-long inclined shaft auxiliary tunnel. Background Art

[0002] The construction of double-track main tunnels for extra-long inclined shaft auxiliary tunnels is a commonly used tunnel construction method, but the existing tunnel construction transportation methods still have shortcomings. Specifically, the existing transportation methods generally require workers to arrange vehicle transportation according to the material needs of the site, the operation process is less intelligent, and the work efficiency is not high.

[0003] Therefore, a double-line main tunnel construction and transportation method for an extra-long inclined shaft auxiliary tunnel is needed to solve the problems raised in the above background technology. Summary of the invention

[0004] The purpose of the present invention is to provide a double-line main tunnel construction and transportation method for an extra-long inclined shaft auxiliary tunnel to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A method for construction and transportation of a double-line main tunnel of an extra-long inclined shaft auxiliary tunnel comprises the following steps:

[0007] S1, the transport vehicle uploads vehicle status data to the control background, the construction site submits material transportation reports to the control background according to construction requirements, and the control background assigns transportation tasks to each transport vehicle based on the submitted reports and vehicle information. After receiving the transportation task, the transport vehicle requests path planning from the control background;

[0008] S2, input the high-precision map file of the extra-long inclined shaft auxiliary tunnel into the control background, the control background parses the map file according to the high-precision map annotation protocol and stores it in the database. After the control background receives the planning request from the transport vehicle, the control background constructs a directed topology graph of the high-precision map according to the parsed file, obtains the entry section ID and exit section ID of all turning points in the high-precision map, establishes a connection relationship between the vertices represented by the entry section and the exit section, updates the directed topology graph, and obtains the planned path based on the updated directed topology graph. The control background compiles the navigation voice according to the planned path;

[0009] S3, the control background inputs the planned path and navigation voice into the transport vehicle, and the driver drives the transport vehicle according to the planned path and navigation voice. During the driving process, the transport vehicle will periodically upload the current position coordinates to the control background. The control background puts the received current position coordinates into the grid environment map and connects the coordinates to obtain the current driving path of the transport vehicle. The planned path is corrected according to the current driving path of the transport vehicle, and the corrected path is used as the new planned path.

[0010] As a preferred solution of the present invention, the vehicle status data in S1 includes vehicle model, vehicle rated load, vehicle current fuel level and vehicle current location, and the material transportation report includes the type of transported materials, the quantity of transported materials, the storage location of transported materials and the location of the construction site.

[0011] As a preferred solution of the present invention, the database in S2 includes a high-precision map point information table, a high-precision map line string information table, a high-precision map section information table, a high-precision map relationship information table, a high-precision map poi point information table, and a high-precision map topology information table.

[0012] As a preferred solution of the present invention, the method for constructing a directed topological graph of a high-precision map in S2 is to first obtain all the section IDs of the high-precision map from the database, and then obtain the four vertices of the section according to the section ID, the four vertices being the lower left corner, the lower right corner, the upper left corner, and the upper right corner, and loop through all sections. If the upper left corner and the upper right corner of section a are the same as the lower left corner and the lower right corner of section b, it means that section a points to section b, and then an edge between vertex a and vertex b in the directed topological graph of the high-precision map is established, and all edge weights of the directed topological graph of the high-precision map are set to 1 to obtain the directed topological graph of the high-precision map.

[0013] As a preferred solution of the present invention, the method for obtaining the planned path is: the control background takes the current position of the vehicle as the starting point and the construction site as the end point, and according to the starting point and end point information and the updated directed topology map, dynamic environment modeling is performed through the grid method to construct a grid environment map, and a time parameter is introduced to describe the grid environment map, an A* algorithm is constructed based on the time parameter, and multiple groups of initial paths are obtained according to the A* algorithm based on the time parameter, the control background calculates the forward driving distance and the reverse driving distance in each group of initial paths respectively, and then according to the forward driving speed and the reverse driving speed of the vehicle, the vehicle's travel time on the path is obtained, and a path with the shortest travel time is selected as the planned path.

[0014] As a preferred solution of the present invention, the A* algorithm constructed based on time parameters is F(ni)=G(ni)+αH(ni)+βD(ni,k,l), wherein ni is the current grid of the coordinates, G(ni) is the actual cost from the starting grid to the grid number ni, αH(ni) is the estimated cost from the grid number ni to the end grid, α and β are weight coefficients, and D(ni,k,l) ​​represents the busyness function of a small range road section in the direction from the current grid to the target grid, which is characterized by the number of obstacles within a distance range of l that the road section passes through in the next k unit time.

[0015] As a preferred solution of the present invention, the transmission period of the current position coordinates in S3 is 30S, and when uploading the position coordinates, the current speed and direction of the vehicle will be uploaded to the control background together.

[0016] As a preferred solution of the present invention, the method for correcting the planned path according to the current driving path of the transport vehicle in S3 is to calculate the offset value of each grid position between the current driving path and the planned path. If the offset value exceeds the standard threshold, it indicates that an obstacle appears at the grid position. The grid position in the current driving path is replaced with the grid position data in the corresponding planned path to obtain a corrected path.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. In the present invention, the vehicle status data is uploaded to the control background by the transport vehicle, and the construction site submits the material transportation report to the control background according to the construction requirements. The control background assigns the transportation task to each transport vehicle according to the submitted report and vehicle information. After the transport vehicle receives the transportation task, it requests the control background for path planning, and inputs the high-precision map file of the extra-long inclined shaft auxiliary tunnel into the control background. The control background parses the map file according to the high-precision map annotation protocol and stores it in the database. After the control background receives the planning request issued by the transport vehicle, the control background constructs a directed topology graph of the high-precision map according to the parsed file, obtains the entry section id and exit section id of all turning points in the high-precision map, establishes a connection relationship between the vertices represented by the entry section and the exit section, updates the directed topology graph, and obtains the planned path based on the updated directed topology graph. The control background compiles the navigation voice according to the planned path, and the control background inputs the planned path and the navigation voice into the transport vehicle In the vehicle, the driver drives the transport vehicle according to the planned path and navigation voice. During the driving process, the transport vehicle will periodically upload the current position coordinates to the control background. The control background puts the received current position coordinates into the grid environment map, and connects the coordinates to obtain the current driving path of the transport vehicle. The planned path is corrected according to the current driving path of the transport vehicle, and the corrected path is used as the new planned path. A high-level tunnel construction map is used to construct a grid environment map, and multiple groups of paths are planned according to the grid environment map. The nearest planned path is selected according to the time spent on each group of paths. The driving path of the transport vehicle can be reasonably planned according to different vehicle positions and construction sites. It has a high degree of intelligence and can plan paths for multiple transport vehicles at the same time, which improves work efficiency. At the same time, the planned path is corrected using the real-time driving path of the vehicle, which can effectively avoid temporary obstacles affecting the driving of subsequent vehicles. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0020] In order to facilitate the understanding of the present invention, several embodiments of the present invention are given. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0021] It should be noted that when an element is referred to as being "fixed on" another element, it may be directly on the other element or there may also be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may also be a central element. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this article are for illustrative purposes only.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0023] Embodiment, the present invention provides a technical solution:

[0024] A method for construction and transportation of a double-line main tunnel of an extra-long inclined shaft auxiliary tunnel comprises the following steps:

[0025] S1, the transport vehicle uploads vehicle status data to the control background, the construction site submits material transportation reports to the control background according to construction requirements, and the control background assigns transportation tasks to each transport vehicle based on the submitted reports and vehicle information. After receiving the transportation task, the transport vehicle requests path planning from the control background;

[0026] S2, input the high-precision map file of the extra-long inclined shaft auxiliary tunnel into the control background, the control background parses the map file according to the high-precision map annotation protocol and stores it in the database. After the control background receives the planning request from the transport vehicle, the control background constructs a directed topology graph of the high-precision map according to the parsed file, obtains the entry section ID and exit section ID of all turning points in the high-precision map, establishes a connection relationship between the vertices represented by the entry section and the exit section, updates the directed topology graph, and obtains the planned path based on the updated directed topology graph. The control background compiles the navigation voice according to the planned path;

[0027] S3, the control background inputs the planned path and navigation voice into the transport vehicle, and the driver drives the transport vehicle according to the planned path and navigation voice. During the driving process, the transport vehicle will periodically upload the current position coordinates to the control background. The control background puts the received current position coordinates into the grid environment map and connects the coordinates to obtain the current driving path of the transport vehicle. The planned path is corrected according to the current driving path of the transport vehicle, and the corrected path is used as the new planned path.

[0028] Furthermore, the vehicle status data in S1 includes vehicle model, vehicle rated load, vehicle current fuel level and vehicle current location, and the material transportation report includes the type of transported materials, the quantity of transported materials, the storage location of transported materials and the location of the construction site.

[0029] Furthermore, the database in S2 includes a high-precision map point information table, a high-precision map line string information table, a high-precision map section information table, a high-precision map relationship information table, a high-precision map POI point information table, and a high-precision map topology information table.

[0030] Furthermore, the method for constructing a directed topological graph of a high-precision map in S2 is to first obtain all the section IDs of the high-precision map from the database, and then obtain the four vertices of the section according to the section ID, the four vertices being the lower left corner, lower right corner, upper left corner, and upper right corner, and loop through all sections. If the upper left corner and upper right corner of section a are the same as the lower left corner and lower right corner of section b, it means that section a points to section b, and then an edge between vertex a and vertex b in the directed topological graph of the high-precision map is established, and all edge weights of the directed topological graph of the high-precision map are set to 1 to obtain the directed topological graph of the high-precision map.

[0031] Furthermore, the method for obtaining the planned path is as follows: the control background takes the current position of the vehicle as the starting point and the construction site as the end point, and according to the starting point and end point information and the updated directed topology map, dynamic environment modeling is performed through the grid method to construct a grid environment map, and a time parameter is introduced to describe the grid environment map, an A* algorithm is constructed based on the time parameter, and multiple groups of initial paths are obtained according to the A* algorithm based on the time parameter, and the control background calculates the forward driving distance and the reverse driving distance in each group of initial paths respectively, and then according to the forward driving speed and the reverse driving speed of the vehicle, the vehicle's travel time on the path is obtained, and a path with the shortest travel time is selected as the planned path.

[0032] Furthermore, the A* algorithm constructed based on time parameters is F(ni)=G(ni)+αH(ni)+βD(ni,k,l), where ni is the current grid of the coordinates, G(ni) is the actual cost from the starting grid to the grid ni, αH(ni) is the estimated cost from the grid ni to the end grid, α and β are weight coefficients, and D(ni,k,l) ​​represents the busyness function of a small range of road sections in the direction from the current grid to the target grid, which is characterized by the number of obstacles within a distance range of l that the section passes in the next k unit time.

[0033] Furthermore, the transmission period of the current position coordinates in S3 is 30S, and when uploading the position coordinates, the current speed and direction of the vehicle will be uploaded to the control background together.

[0034] Furthermore, the method for correcting the planned path according to the current driving path of the transport vehicle in S3 is to calculate the offset value of each grid position between the current driving path and the planned path. If the offset value exceeds the standard threshold, it indicates that an obstacle appears at the grid position. The grid position in the current driving path is replaced with the grid position data in the corresponding planned path to obtain a corrected path. DETAILED DESCRIPTION

[0036] The transport vehicle uploads vehicle status data to the control background. The vehicle status data includes vehicle model, vehicle rated load, vehicle current fuel level and vehicle current location. The construction site submits material transportation reports to the control background according to construction requirements. The material transportation reports include the type of transported materials, the quantity of transported materials, the storage location of transported materials and the location of the construction site. The control background assigns transportation tasks to each transport vehicle based on the submitted reports and vehicle information. After receiving the transportation tasks, the transport vehicle requests path planning from the control background.

[0037] The high-precision map file of the extra-long inclined shaft auxiliary tunnel is input into the control background. The control background parses the map file according to the high-precision map annotation protocol and stores it in the database. The database contains a high-precision map point information table, a high-precision map line string information table, a high-precision map section information table, a high-precision map relationship information table, a high-precision map POI point information table, and a high-precision map topology information table;

[0038] After the control background receives the planning request from the transport vehicle, it first obtains all the road section IDs of the high-precision map from the database, and then obtains the four vertices of the road section according to the road section ID. The four vertices are the lower left corner, lower right corner, upper left corner, and upper right corner. It loops through all the road sections. If the upper left corner and upper right corner of section a are the same as the lower left corner and lower right corner of section b, it means that section a points to section b. Then, the edge between vertex a and vertex b in the directed topology graph of the high-precision map is established. All edge weights of the directed topology graph of the high-precision map are set to 1 to obtain the directed topology graph of the high-precision map. The entry and exit section IDs of all turning points in the high-precision map are obtained, and the vertices represented by the entry and exit sections are connected. The directed topology graph is updated based on the updated directed topology graph;

[0039] The control background takes the current position of the vehicle as the starting point and the construction site as the end point. According to the starting point and end point information and the updated directed topology map, the grid method is used to perform dynamic environment modeling, construct a grid environment map, and introduce time parameters to describe the grid environment map. The A* algorithm is constructed based on the time parameters and multiple groups of initial paths are obtained according to the A* algorithm based on the time parameters. The A* algorithm constructed based on the time parameters is F(ni)=G(ni)+αH(ni)+βD(ni,k,l), where ni is the current grid of the coordinates, G(ni) is the actual cost value from the starting grid to the ni grid, αH(ni) is the estimated cost value from the ni grid to the end grid, α and β are weight coefficients, and D(ni,k,l) ​​represents the busyness function of a small range of road sections in the direction from the current grid to the target grid, which is characterized by the number of obstacles that pass through the l distance range in the next k unit time.

[0040] The control background calculates the forward driving distance and reverse driving distance of each group of initial paths, and then obtains the vehicle's travel time on the path based on the forward driving speed and reverse driving speed of the vehicle, and selects the path with the shortest travel time as the planned path. The control background compiles the navigation voice according to the planned path;

[0041] The control background inputs the planned path and navigation voice into the transport vehicle. The driver drives the transport vehicle according to the planned path and navigation voice. During the driving process, the transport vehicle will periodically upload the current position coordinates to the control background. The transmission cycle of the current position coordinates is 30S. When uploading the position coordinates, the current driving speed and direction of the vehicle will be uploaded to the control background together;

[0042] The control background puts the received current position coordinates into the grid environment map, and connects the coordinates to obtain the current driving path of the transport vehicle, and calculates the offset value of each grid position between the current driving path and the planned path. If the offset value exceeds the standard threshold, it indicates that an obstacle appears at the grid position. The grid position in the current driving path replaces the grid position data in the corresponding planned path to obtain the corrected path, and the corrected path is used as the new planned path.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A double-line main tunnel construction and transportation method for an extra-long inclined shaft auxiliary tunnel, characterized in that: The following steps are involved: S1, the transport vehicle uploads vehicle status data to the control background, the construction site submits material transportation reports to the control background according to construction requirements, and the control background assigns transportation tasks to each transport vehicle based on the submitted reports and vehicle information. After receiving the transportation task, the transport vehicle requests path planning from the control background; S2, input the high-precision map file of the extra-long inclined shaft auxiliary tunnel into the control background, the control background parses the map file according to the high-precision map annotation protocol and stores it in the database. After the control background receives the planning request from the transport vehicle, the control background constructs a directed topology graph of the high-precision map according to the parsed file, obtains the entry section ID and exit section ID of all turning points in the high-precision map, establishes a connection relationship between the vertices represented by the entry section and the exit section, updates the directed topology graph, and obtains the planned path based on the updated directed topology graph. The control background compiles the navigation voice according to the planned path; S3, the control background inputs the planned path and navigation voice into the transport vehicle, and the driver drives the transport vehicle according to the planned path and navigation voice. During the driving process, the transport vehicle will periodically upload the current position coordinates to the control background. The control background puts the received current position coordinates into the grid environment map and connects the coordinates to obtain the current driving path of the transport vehicle. The planned path is corrected according to the current driving path of the transport vehicle, and the corrected path is used as the new planned path.

2. The method for construction and transportation of a double-line main tunnel of an extra-long inclined shaft auxiliary tunnel according to claim 1 is characterized in that: The vehicle status data in S1 includes the vehicle model, the vehicle rated load, the vehicle current fuel level and the vehicle current location, and the material transportation report includes the type of transported materials, the quantity of transported materials, the storage location of transported materials and the location of the construction site.

3. The method for construction and transportation of a double-line main tunnel of an extra-long inclined shaft auxiliary tunnel according to claim 1 is characterized in that: The database in S2 includes a high-precision map point information table, a high-precision map line string information table, a high-precision map section information table, a high-precision map relationship information table, a high-precision map POI point information table, and a high-precision map topology information table.

4. The method for construction and transportation of a double-line main tunnel of an extra-long inclined shaft auxiliary tunnel according to claim 1 is characterized in that: The method for constructing the directed topological graph of the high-precision map in S2 is to first obtain all the section IDs of the high-precision map from the database, and then obtain the four vertices of the section according to the section ID, the four vertices are the lower left corner, the lower right corner, the upper left corner, and the upper right corner, and loop through all sections. If the upper left corner and the upper right corner of section a are the same as the lower left corner and the lower right corner of section b, it means that section a points to section b, and then establish the edge between vertex a and vertex b in the directed topological graph of the high-precision map, set all the edge weights of the directed topological graph of the high-precision map to 1, and obtain the directed topological graph of the high-precision map.

5. The method for construction and transportation of a double-line main tunnel of an extra-long inclined shaft auxiliary tunnel according to claim 1 is characterized in that: The method for obtaining the planned path is as follows: the control background takes the current position of the vehicle as the starting point and the construction site as the end point, performs dynamic environment modeling through the grid method according to the starting point and end point information and the updated directed topology map, constructs a grid environment map, introduces a time parameter to describe the grid environment map, constructs an A* algorithm based on the time parameter, and obtains multiple groups of initial paths according to the A* algorithm based on the time parameter, and the control background calculates the forward driving distance and the reverse driving distance in each group of initial paths respectively, and then obtains the vehicle's travel time on the path according to the forward driving speed and the reverse driving speed of the vehicle, and selects a path with the shortest travel time as the planned path.

6. The method for construction and transportation of a double-line main tunnel of an extra-long inclined shaft auxiliary tunnel according to claim 5 is characterized by: The A* algorithm constructed based on time parameters is F(ni)=G(ni)+αH(ni)+βD(ni,k,l), where ni is the current grid of the coordinates, G(ni) is the actual cost from the starting grid to the grid ni, αH(ni) is the estimated cost from the grid ni to the end grid, α and β are weight coefficients, and D(ni,k,l) ​​represents the busyness function of a small range of road sections in the direction from the current grid to the target grid, which is characterized by the number of obstacles in the distance l that the road section passes in the next k unit time.

7. The method for construction and transportation of a double-line main tunnel of an extra-long inclined shaft auxiliary tunnel according to claim 1 is characterized by: The transmission period of the current position coordinates in S3 is 30S. When uploading the position coordinates, the current speed and direction of the vehicle will be uploaded to the control background.

8. The method for construction and transportation of a double-line main tunnel of an extra-long inclined shaft auxiliary tunnel according to claim 1 is characterized by: The method for correcting the planned path according to the current driving path of the transport vehicle in S3 is to calculate the offset value of each grid position between the current driving path and the planned path. If the offset value exceeds the standard threshold, it indicates that an obstacle appears at the grid position. The grid position in the current driving path is replaced with the grid position data in the corresponding planned path to obtain a corrected path.