Open-pit mine global structured road network planning method and system and storage medium

Abstract

The invention discloses a global structured road network planning method and system for a strip mine and a storage medium, and belongs to the technical field of road network planning, and the global structured road network planning method comprises the steps: constructing a reference node topological graph of a driving path according to a global structured road of the strip mine; acquiring a sampling point set of a driving path according to the reference node topological graph; constructing a double-row node road network according to a right driving principle and the sampling point set; segmenting a path in the double-row node road network to obtain road sections; according to the method, all the road sections are optimized to obtain the global structured road network, automatic construction of the structured road network is achieved, a large amount of manpower is saved, meanwhile, the influence of manual intervention is eliminated, and the rationality and planning efficiency of road network construction are effectively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of road network planning, and in particular relates to a method, system and storage medium for planning a global structured road network in an open-pit mine. Background Art

[0002] Autonomous driving technology is an important driving force for the intelligent development of the mining industry, helping open-pit mines to achieve full-chain intelligent operations from mining, transportation to processing. The construction of an autonomous driving road network can realize the automated operation of mining vehicles, reduce human intervention, and improve operating efficiency. Vehicles can travel automatically according to preset paths and dispatching instructions without the need for driver operation, thereby saving labor costs and improving transportation efficiency. By building an autonomous driving road network, accurate dispatching and collaborative operations of vehicles can be achieved, improving overall transportation efficiency.

[0003] Existing technologies such as 2023106775258 A method, device, chip, terminal, equipment and medium for generating a vehicle driving road network; the scheme obtains the boundary point set and road network planning parameters of the drivable area of ​​the mining area; identifies the boundary point set to obtain the boundary line and area width of the drivable area of ​​the mining area; compares the area width with the road safety width, and divides the drivable area of ​​the mining area into batches to obtain different types of sections; in different sections, generates lane driving reference sections and lane boundary sections according to the road network planning parameters; connects and smoothes the driving reference sections in each section to obtain a driving reference route; this method requires the segmentation of the drivable area before calculating the road network, and the mining environment is complex , the road boundaries are irregular, the segmentation results are unstable, and the generation of segmented paths lacks global map information, and the planned road network paths are not rational. For example, 2023113074360 is an optimization method for unmanned mine truck road network trajectory production based on B-spline curves; the scheme is based on the driver driving the unmanned mine truck to record the original GPS path points; the recorded trajectory is completed; the B-spline curve control points are calculated based on the discrete points of the recorded trajectory, and the closed-loop trajectory is fitted based on the SDM fitting algorithm; the starting point and end point of the recorded trajectory are intercepted to generate a road network trajectory file; this method requires the collection of manual driving trajectories, and the quality of the manual driving trajectory will directly affect the road network generation results, with high labor costs and unstable effects.

[0004] Therefore, it is necessary to propose a global structured road network planning scheme for open-pit mines to solve the problem that the road network in the existing technology is overly dependent on manual intervention and has a low degree of automation, which affects the planning efficiency and accuracy. Summary of the invention

[0005] The present invention proposes a global structured road network planning method, system and storage medium for an open-pit mine, which realizes the automatic construction of a structured road network by constructing a reference node path, selecting sampling points according to each node on the reference node path, and planning a double-row node road network among the sampling points, thereby eliminating the influence of manual intervention and effectively improving the rationality of road network construction and planning efficiency.

[0006] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0007] In a first aspect, the present invention provides a method for planning a global structured road network in an open-pit mine, comprising:

[0008] A reference node topology map of the driving path is constructed based on the global structured roads of the open-pit mine;

[0009] Acquire a sampling point set of the driving path according to the reference node topology map;

[0010] A two-way node road network is constructed based on the right-hand driving principle and the sampling point set;

[0011] Dividing the paths in the dual-row node road network into road sections;

[0012] Each road section is optimized to obtain a global structured road network.

[0013] Optionally, the reference node topology diagram for constructing a driving path according to the global structured road of the open-pit mine includes:

[0014] Construct a Voronoi diagram based on the region boundaries of structured roads;

[0015] Obtain the start and end nodes of the road network based on the entry and exit points of the work area;

[0016] The Voronoi diagram is intercepted according to the locations of the start and end nodes to obtain a reference node road network.

[0017] Optionally, the step of acquiring a sampling point set of a driving path according to the reference node topology map includes:

[0018] Construct a reference node path connecting each starting and ending node of the reference node road network;

[0019] The extended nodes on both sides of the reference node path are obtained along the perpendicular direction of the reference node path to obtain a sampling point set.

[0020] Optionally, the step of constructing a two-row node road network according to the driving on the right principle and the sampling point set includes:

[0021] Construct a right-side node path based on the right-side driving principle and the sampling point set;

[0022] Get the double-row node road network based on the round-trip right node path.

[0023] Optionally, according to the driving on the right principle and the dynamic programming algorithm, starting from the exit point of the reference node path, traverse backward in the order of the reference nodes to calculate the cost of connecting each sampling point until it is connected to the entry point of the reference node path;

[0024] According to the road area boundary and the calculated cost, traverse each reference node and select the corresponding right node from the sampling points of each reference node;

[0025] Connect each right node to the entry and exit points of the reference node path in sequence to obtain the right node path.

[0026] Optionally, the calculation formula for the cost of connecting each sampling point is:

[0027] ,

[0028] in, is the jth sampling point of the i-th reference node The price, is the kth sampling point of the i+1th reference node The cost of deviation from the reference path heading angle, for The heading angle deviation cost from the optimal sampling point of the i-th reference node, for The heading angle deviation cost from the optimal sampling point of the i-1th reference node, for The distance deviation cost between the right sampling point of the i+1th reference node, is the corresponding cost weight.

[0029] Optionally, dividing the paths in the dual-row node road network into road sections includes: acquiring intersection nodes of the dual-row node road network, and dividing the road network into road sections according to the intersection nodes of the dual-row node road network.

[0030] Optionally, the optimizing process for each road section to obtain a global structured road network includes:

[0031] Use spline curves to interpolate each road segment to obtain an equally spaced smooth path;

[0032] A global structured road network is obtained based on each equally spaced smooth path.

[0033] In a second aspect, the present invention provides a global structured road network planning system for an open-pit mine, comprising:

[0034] Reference node topology map construction module: used to construct a reference node topology map of the driving path according to the global structured road of the open-pit mine;

[0035] Sampling point set acquisition module: used to acquire the sampling point set of the driving path according to the reference node topology map;

[0036] Two-row node road network construction module: used to construct a two-row node road network based on the right-hand driving principle and sampling point set;

[0037] A road segmentation module: used for segmenting the paths in the dual-row node road network into road segments;

[0038] Road section optimization module: used to optimize each road section to obtain a global structured road network.

[0039] In a third aspect, the present invention provides a computer storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for planning a global structured road network for an open-pit mine as described in any step of the first aspect.

[0040] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: by constructing a reference node topology map and a global road network planning reference, the road association relationship between the loading / unloading sections of the open-pit mine is automatically established, and then the path planning is performed according to the right-hand driving principle, so that the structured road network path of the loading and unloading sections can be directly obtained, and the generated path complies with the driving rules, further ensuring the rationality of the global planning path, and the planned two-row node road network can automatically construct the topological relationship between the road sections, providing an effective reference for the vehicle navigation task, and then optimizing the road sections to generate the final global structured road network, saving a lot of manpower, while avoiding the irrationality caused by manual drawing, and improving the planning efficiency of road network construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 The figure is a flow chart of a method for planning a global structured road network in an open-pit mine in one embodiment of the present invention;

[0042] Figure 2 Shown is a flow chart of a method for planning a global structured road network in an open-pit mine in another embodiment of the present invention;

[0043] Figure 3 It is a schematic diagram showing the principle of generating sampling points according to a reference node path in a reference node road network in an embodiment of the present invention;

[0044] Figure 4 It is a schematic diagram showing the principle of constructing a topological relationship based on the intersection nodes of a double-row node network in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0046] Example 1

[0047] like Figure 1 As shown, this embodiment provides a method for planning a global structured road network in an open-pit mine, comprising:

[0048] A reference node topology map of the driving path is constructed based on the global structured roads of the open-pit mine;

[0049] Acquire a sampling point set of the driving path according to the reference node topology map;

[0050] A two-way node road network is constructed based on the right-hand driving principle and the sampling point set;

[0051] Dividing the paths in the dual-row node road network into road sections;

[0052] Each road section is optimized to obtain a global structured road network.

[0053] In order to solve the problems of unreasonable manual drawing of structured road networks in open-pit mine scenarios, complex operations and tedious work, the sampling points associated with the reference node path are obtained, and a two-way right-driving path that is most conducive to autonomous driving is planned among the sampling points. The two-way right-driving path is segmented and smoothed to obtain the final road network planning scheme, which realizes the automatic construction of the structured road network and effectively improves the rationality of the road network construction and the planning efficiency.

[0054] Example 2

[0055] Based on Example 1, this example also makes the following design.

[0056] refer to Figure 2 , the road network planning method is specifically divided into the following steps:

[0057] S1: Construct a reference node topology map, construct a Voronoi diagram based on the regional boundary, obtain the start and end nodes of the road network based on the entry and exit points of the work area, intercept the Voronoi diagram based on the start and end nodes, and obtain the reference node road network. Figure 2 , and its specific implementation process is:

[0058] S11: Construct Voronoi diagram based on structured road map boundaries;

[0059] S12: Construct a cutoff line based on the entry and exit points of the loading / unloading area;

[0060] S13: Use the truncation line to truncate the Voronoi diagram, and the truncation diagram structure is the reference node topology diagram;

[0061] S2: Sampling point generation module, constructs a reference node path connecting the start and end nodes of the reference road network, and generates left and right extension nodes along the vertical direction of the reference node path. Refer to Figure 3. The specific implementation process is as follows:

[0062] S21: The truncated nodes of the reference node topology are combined in pairs, and the Dijkstra algorithm is used to calculate the shortest path between the two nodes as the reference node path;

[0063] S22: sampling at equal intervals along the vertical direction of the reference node path to the driving boundary, and constructing a sampling point set associated with the reference node path;

[0064] S3: The right node path planning module takes the exit point of the loading / unloading area as the starting point, and plans along the sampling points of the reference node path to the entry points of other operation areas according to the principle of driving on the right, and obtains the node path connecting the entry and exit points and the sampling points. Figure 3 , and its specific implementation process is:

[0065] S31: starting from the exit point, using a dynamic programming algorithm, along the node sequence of the reference node path, backwardly calculate the cost of connecting the sampling points node by node until it is connected to the target loading / unloading area entry point;

[0066] S32: Calculate the cost of the sampling point, the kth sampling point of the i+1th reference node The cost is:

[0067]

[0068] in, is the jth sampling point of the i-th reference node The price, is the corresponding cost weight, and cost (2) is the kth sampling point of the i+1th reference node The cost of the heading angle deviating from the reference path heading angle is (3) The heading angle of the optimal sampling point of the i-th reference node is the deviation cost of the heading angle of the i-th reference node. The cost (4) is The heading angle of the optimal sampling point of the i-1 reference node is the deviation cost of the heading angle of the optimal sampling point of the i-1 reference node. The cost (5) is The distance deviation cost from the right sampling point;

[0069] S33: Sampling point With reference node The corresponding sampling points are connected in sequence with straight lines, and the connecting line segments are offset left and right by half the width of the vehicle. , form an expansion rectangle, check whether the expansion rectangle collides with the driving boundary, if so, skip the sampling point, if not, keep the sampling point;

[0070] S34: Traversing reference nodes All the remaining sampling points are selected. The lowest cost sampling point between As The parent node of

[0071] S35: After calculating the node sequence along the reference node path to the end point, trace back the parent node from the end point to the starting point, which is the optimal right node path.

[0072] S4: The two-way node network construction module combines all the right-side node paths into a new node network. Figure 4 , record the intersection nodes of the double-row node road network.

[0073] S5: The road segmentation module divides the road network into sections according to the intersection nodes of the double-row node network. Figure 4 , topological relationships are constructed between road sections through intersection nodes.

[0074] S6: The road segment optimization module uses spline curves to interpolate road segments to obtain equally spaced smooth paths.

[0075] S7: At this point, a global structured road network that is suitable for vehicle driving is obtained.

[0076] Example 3

[0077] This embodiment provides a system for planning a global structured road network in an open-pit mine, including:

[0078] Reference node topology map construction module: used to construct a reference node topology map of the driving path according to the global structured road of the open-pit mine;

[0079] Sampling point set acquisition module: used to acquire the sampling point set of the driving path according to the reference node topology map;

[0080] Two-row node road network construction module: used to construct a two-row node road network based on the right-hand driving principle and sampling point set;

[0081] A road segmentation module: used for segmenting the paths in the dual-row node road network into road segments;

[0082] Road section optimization module: used to optimize each road section to obtain a global structured road network.

[0083] Example 4

[0084] This embodiment provides a computer storage medium on which a computer program is stored. When the computer program is executed by a processor, the method for planning a global structured road network for an open-pit mine as described in any step of Embodiment 2 is implemented.

[0085] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0086] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0087] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0088] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0089] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A method for planning a global structured road network in an open-pit mine, characterized in that: include: A reference node topology map of the driving path is constructed based on the global structured roads of the open-pit mine; Acquire a sampling point set of the driving path according to the reference node topology map; A two-way node road network is constructed based on the right-hand driving principle and the sampling point set; Dividing the paths in the dual-row node road network into road sections; Each road section is optimized to obtain a global structured road network.

2. The open-pit mine global structured road network planning method according to claim 1, characterized in that: The reference node topology diagram for constructing a driving path according to the global structured road of the open-pit mine includes: Construct a Voronoi diagram based on the region boundaries of structured roads; Obtain the start and end nodes of the road network based on the entry and exit points of the work area; The Voronoi diagram is intercepted according to the locations of the start and end nodes to obtain a reference node road network.

3. The method for planning a global structured road network for an open-pit mine according to claim 2, characterized in that: The step of obtaining a sampling point set of a driving path according to the reference node topology map includes: Construct a reference node path connecting each starting and ending node of the reference node road network; The extended nodes on both sides of the reference node path are obtained along the perpendicular direction of the reference node path to obtain a sampling point set.

4. The method for planning a global structured road network for an open-pit mine according to claim 3, characterized in that: The method of constructing a two-row node road network according to the right-hand driving principle and the sampling point set includes: Construct a right-side node path based on the right-side driving principle and the sampling point set; Get the double-row node road network based on the round-trip right node path.

5. The method for planning a global structured road network for an open-pit mine according to claim 4, characterized in that: The step of constructing a right-side node path according to the right-side driving principle and the sampling point set includes: According to the principle of driving on the right and the dynamic programming algorithm, starting from the exit point of the reference node path, traverse backwards in the order of the reference nodes to calculate the cost of connecting each sampling point until it is connected to the entry point of the reference node path; According to the road area boundary and the calculated cost, traverse each reference node and select the corresponding right node from the sampling points of each reference node; Connect the entry and exit points of each right node and the reference node path in sequence to obtain the right node path.

6. The method for planning a global structured road network for an open-pit mine according to claim 5, characterized in that: The calculation formula for the cost of connecting each sampling point is: ， in, is the jth sampling point of the i-th reference node The price, is the kth sampling point of the i+1th reference node The cost of deviation from the reference path heading angle, for The heading angle deviation cost from the optimal sampling point of the i-th reference node, for The heading angle deviation cost from the optimal sampling point of the i-1th reference node, for The distance deviation cost between the right sampling point of the i+1th reference node, is the corresponding cost weight.

7. The method for planning a global structured road network for an open-pit mine according to claim 6, characterized in that: The step of dividing the paths in the dual-row node road network into road sections includes: obtaining intersection nodes of the dual-row node road network, and dividing the road network into road sections according to the intersection nodes of the dual-row node road network.

8. The method for planning a global structured road network for an open-pit mine according to claim 7, characterized in that: The optimization process for each road section to obtain a global structured road network includes: Use spline curves to interpolate each road segment to obtain an equally spaced smooth path; A global structured road network is obtained based on each equally spaced smooth path.

9. A global structured road network planning system for open-pit mines, characterized in that: include: Reference node topology map construction module: used to construct a reference node topology map of the driving path according to the global structured road of the open-pit mine; Sampling point set acquisition module: used to acquire the sampling point set of the driving path according to the reference node topology map; Two-row node road network construction module: used to construct a two-row node road network based on the right-hand driving principle and sampling point set; A road segmentation module: used for segmenting the paths in the dual-row node road network into road segments; Road section optimization module: used to optimize each road section to obtain a global structured road network.

10. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the open-pit mine global structured road network planning method as described in any one of claims 1 to 8 is implemented.

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