Transportation road network updating method and electronic equipment
By obtaining and processing the trajectory data of the transport vehicle, dynamically update the mining area transportation network, the problem of untimely update of the existing technology middle road network is solved, and more accurate and efficient transportation scheduling is achieved.
Patent Information
- Application Number
- CN202411482083.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-23
- Publication Date
- 2025-02-18
AI Technical Summary
The existing technology is difficult to achieve real-time update of the mine transportation network, resulting in inaccurate loading and scheduling results of transport vehicles, affecting the mining area output.
By obtaining the trajectory set and current road network of all transport vehicles on the previous shift, an initial road network is generated, and the road network is dynamically updated according to the new trajectory formed in real time.
Real-time update of the transportation network is achieved, the accuracy and efficiency of transport vehicle loading scheduling are improved, and computational complexity and manual intervention are reduced.
Smart Images
Figure CN119477122A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of artificial intelligence technology, and more specifically, to a method for updating a transportation network and electronic equipment. Background Art
[0002] In the scheduling of loading of mining area transport vehicles, it is necessary to calculate factors such as the estimated travel time and cost of optional target loading points based on the current transportation road network topology, path length and other information, so as to give the best scheduling suggestions based on the corresponding algorithms or rules. It can be seen that the generation and real-time update of mining area transportation road network is very important for the loading scheduling of mining area transport vehicles.
[0003] At present, there are two main ways to generate and maintain mine transportation road networks. The first method is mainly through manual on-site mapping, collection and entry of path information. When the path changes, manual intervention is also required. The second method is based on a large number of historical driving trajectory maps of transport vehicles, using machine learning or neural network methods to cluster and merge trajectories to form paths, and then calculate the topological structure from the paths to finally form a road network.
[0004] Among them, the first method requires more manpower and material costs. Due to the harsh working environment in the mining area, when the path changes, the manual mapping, collection and entry of the path will not be timely, resulting in inaccurate loading and scheduling results of the mining area transport vehicles, affecting the output of the mining area; the second method requires a large amount of historical trajectory data of the transport vehicles, and even needs to be combined with the original basic road network information, and then select appropriate machine learning or neural network algorithms for model training to obtain better road network results. This method is complex and time-consuming to calculate. It cannot update the road network in real time for the complex and changeable mining environment, which affects the loading and scheduling of the transport vehicles. Summary of the invention
[0005] The purpose of this application is to provide a method and electronic device for updating a transportation road network to address the deficiencies in the above-mentioned prior art, so as to achieve real-time updating of the road network.
[0006] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:
[0007] In a first aspect, an embodiment of the present application provides a method for updating a transportation network, the method comprising:
[0008] Get the trajectory set of all transport vehicles in the previous shift and the current road network;
[0009] If there are trajectories in the trajectory set, generating a first initialized road network according to the trajectory set and the current road network;
[0010] If there is no trajectory in the trajectory set and there is a path in the current road network, generating the first initialization road network according to the current road network;
[0011] If there is no track in the track set and there is no path in the current road network, then obtaining the currently formed newly added track of the current shift, and generating a second initialized road network according to the currently formed newly added track;
[0012] The first initialized road network is dynamically updated according to the first initialized road network, the newly added tracks currently formed in the current shift, and the newly added tracks formed during the operation of the current shift; or the second initialized road network is dynamically updated according to the second initialized road network and the newly added tracks formed during the operation of the current shift.
[0013] Optionally, generating a first initialized road network according to the trajectory set and the current road network includes:
[0014] If there are paths in the current road network, generating the first initialized road network according to each trajectory in the trajectory set and each path in the current road network;
[0015] If no path exists in the current road network, the first initialization road network is generated according to each trajectory in the trajectory set.
[0016] Optionally, generating the first initialized road network according to each trajectory in the trajectory set and each path in the current road network includes:
[0017] The first initialized road network is generated according to the overlap between each trajectory in the trajectory set and each path in the current road network, the length of each trajectory and the length of each path.
[0018] Optionally, generating the first initialized road network according to the overlap between each trajectory in the trajectory set and each path in the current road network, the length of each trajectory and the length of each path includes:
[0019] Traverse each track in the track set, and execute the following steps AB for the current track traversed:
[0020] A. traversing each path in the current road network, for a first current path traversed, if the overlap between the current trajectory and the first current path is greater than or equal to a preset threshold, and the length of the current trajectory is greater than the length of the first current path, then replacing the first current path in the current road network with the current trajectory;
[0021] B. If all paths in the current road network have been traversed, and the overlap between all paths in the current road network and the current trajectory is less than a preset threshold, then re-traverse all paths in the current road network. For the traversed second current path, if the second current path has a last intersection with the current trajectory, then generate a new path according to the first starting point and the first end point of the second current path, the second starting point and the second end point of the current trajectory, and the last intersection point, and add the new path to the newly added path set; if all paths in the current road network have been re-traversed, then add the current trajectory and each new path in the newly added path set to the first initialized road network.
[0022] Optionally, the process of determining the degree of overlap between the current trajectory and the first current path includes:
[0023] Determining a first degree of overlap between the first current path and the current trajectory according to a minimum distance between each positioning point in the first current path and the current trajectory, a preset distance threshold, and a total number of positioning points in the first current path;
[0024] Determining a second degree of overlap between the current trajectory and the first current path according to a minimum distance between each positioning point in the current trajectory and the first current path, a preset distance threshold, and a total number of positioning points in the current trajectory;
[0025] The first overlap degree and the second overlap degree are used as overlap degrees between the current trajectory and the first current path.
[0026] Optionally, generating a new path according to the first starting point and the first end point of the second current path, the second starting point and the second end point of the current trajectory, and the last intersection point includes:
[0027] Connecting a first line segment between the first starting point and the last intersection point with a second line segment between the last intersection point and the second end point to obtain a first new path;
[0028] splicing the third line segment between the second starting point and the last intersection point with the fourth line segment between the last intersection point and the first end point to obtain a second new path;
[0029] The first new path and the second new path are used as the new path.
[0030] Optionally, generating the first initialized road network according to each trajectory in the trajectory set includes:
[0031] Selecting a target trajectory from the trajectory set as the first path in the first initialized road network;
[0032] Traversing each trajectory in the trajectory set except the target trajectory, for the traversed current trajectory, determining a path to be added to the first initialized road network according to the overlap between the current trajectory and the current paths in the first initialized road network, the length of the current trajectory, and the length of the current paths in the first initialized road network, and adding the path to be added to the first initialized road network.
[0033] Optionally, dynamically updating the first initialized road network according to the first initialized road network, the newly added tracks currently formed in the current shift, and the newly added tracks formed during the operation of the current shift includes:
[0034] According to the newly formed tracks of the current shift and the paths in the first initialized road network, the first initialized road network is updated to obtain an updated road network;
[0035] The updated road network is dynamically updated according to the new additional tracks formed during the operation of the current shift and the paths in the updated road network.
[0036] Optionally, dynamically updating the second initialized road network according to the second initialized road network and the newly added tracks formed during the operation of the current shift includes:
[0037] According to the overlap between the new added trajectory and the current paths in the second initialized road network, the length of the new added trajectory and the length of the current paths in the second initialized road network, the path to be added to the second initialized road network is determined, and the path to be added is added to the second initialized road network.
[0038] In a second aspect, an embodiment of the present application further provides a transport network updating device, the device comprising:
[0039] The acquisition module is used to obtain the trajectory set of all transport vehicles in the previous shift of the current shift and the current road network;
[0040] A generating module, configured to generate a first initialization road network according to the track set and the current road network if there are tracks in the track set;
[0041] A generating module, configured to generate the first initialization road network according to the current road network if there is no track in the track set and there is a path in the current road network;
[0042] A generation module, configured to obtain a newly formed trajectory of the current shift if there is no trajectory in the trajectory set and there is no path in the current road network, and generate a second initialized road network according to the newly formed trajectory;
[0043] An updating module is used to dynamically update the first initialized road network according to the first initialized road network, the newly added tracks currently formed in the current shift, and the newly added tracks formed during the operation of the current shift; or to dynamically update the second initialized road network according to the second initialized road network and the newly added tracks formed during the operation of the current shift.
[0044] Optionally, the generating module is specifically used for:
[0045] If there are paths in the current road network, generating the first initialized road network according to each trajectory in the trajectory set and each path in the current road network;
[0046] If no path exists in the current road network, the first initialization road network is generated according to each trajectory in the trajectory set.
[0047] Optionally, the generating module is specifically used for:
[0048] The first initialized road network is generated according to the overlap between each trajectory in the trajectory set and each path in the current road network, the length of each trajectory and the length of each path.
[0049] Optionally, the generating module is specifically used for:
[0050] Traverse each track in the track set, and execute the following steps AB for the current track traversed:
[0051] A. traversing each path in the current road network, for a first current path traversed, if the overlap between the current trajectory and the first current path is greater than or equal to a preset threshold, and the length of the current trajectory is greater than the length of the first current path, then replacing the first current path in the current road network with the current trajectory;
[0052] B. If all paths in the current road network have been traversed, and the overlap between all paths in the current road network and the current trajectory is less than a preset threshold, then re-traverse all paths in the current road network. For the traversed second current path, if the second current path has a last intersection with the current trajectory, then generate a new path according to the first starting point and the first end point of the second current path, the second starting point and the second end point of the current trajectory, and the last intersection point, and add the new path to the newly added path set; if all paths in the current road network have been re-traversed, then add the current trajectory and each new path in the newly added path set to the first initialized road network.
[0053] Optionally, the generating module is specifically used for:
[0054] Determining a first degree of overlap between the first current path and the current trajectory according to a minimum distance between each positioning point in the first current path and the current trajectory, a preset distance threshold, and a total number of positioning points in the first current path;
[0055] Determining a second degree of overlap between the current trajectory and the first current path according to a minimum distance between each positioning point in the current trajectory and the first current path, a preset distance threshold, and a total number of positioning points in the current trajectory;
[0056] The first overlap degree and the second overlap degree are used as overlap degrees between the current trajectory and the first current path.
[0057] Optionally, the generating module is specifically used for:
[0058] Connecting a first line segment between the first starting point and the last intersection point with a second line segment between the last intersection point and the second end point to obtain a first new path;
[0059] splicing the third line segment between the second starting point and the last intersection point with the fourth line segment between the last intersection point and the first end point to obtain a second new path;
[0060] The first new path and the second new path are used as the new path.
[0061] Optionally, the generating module is specifically used for:
[0062] Selecting a target trajectory from the trajectory set as the first path in the first initialized road network;
[0063] Traversing each trajectory in the trajectory set except the target trajectory, for the traversed current trajectory, determining a path to be added to the first initialized road network according to the overlap between the current trajectory and the current paths in the first initialized road network, the length of the current trajectory, and the length of the current paths in the first initialized road network, and adding the path to be added to the first initialized road network.
[0064] Optionally, the update module is specifically used to:
[0065] According to the newly formed tracks of the current shift and the paths in the first initialized road network, the first initialized road network is updated to obtain an updated road network;
[0066] The updated road network is dynamically updated according to the new additional tracks formed during the operation of the current shift and the paths in the updated road network.
[0067] Optionally, the update module is specifically used to:
[0068] According to the overlap between the new added trajectory and the current paths in the second initialized road network, the length of the new added trajectory and the length of the current paths in the second initialized road network, the path to be added to the second initialized road network is determined, and the path to be added is added to the second initialized road network.
[0069] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor, and when an application is running, the processor communicates with the storage medium via the bus, and the processor executes the program instructions to execute the steps of the method for updating the transportation network described in the first aspect above.
[0070] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is read and executes the steps of the method for updating the transportation network described in the first aspect above.
[0071] The beneficial effects of this application are:
[0072] The present application provides a method and electronic device for updating a transport road network. When there are tracks in a track set, a first initialized road network is generated according to the track set and the current road network. If there are no tracks in the track set and there are paths in the current road network, the first initialized road network is generated according to the previous road network. If there are no tracks in the track set and there are no paths in the current road network, a second initialized road network is generated according to the newly added tracks currently formed in the current shift. After the first initialized road network or the second initialized road network is generated, the first initialized road network is dynamically updated according to the first initialized road network, the newly added tracks currently formed in the current shift, and the new newly added tracks formed during the operation of the current shift, or the second initialized road network is dynamically updated according to the second initialized road network and the new newly added tracks formed during the operation of the current shift. That is, in the present application, after the current road network only needs to be initialized once, after the new tracks are formed in the current shift, it is only necessary to dynamically update the initialized road network according to the newly added estimates and the initialized road network, thereby realizing real-time updating of the road network, with small amount of calculation, strong applicability, no need for base road network information, and no need for manual participation, thereby improving the real-time and speed of road network updating. BRIEF DESCRIPTION OF THE DRAWINGS
[0073] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.
[0074] Figure 1 A schematic diagram of a flow chart of a method for updating a transport network provided in an embodiment of the present application;
[0075] Figure 2 A schematic diagram of a flow chart of a second method for updating a transportation network provided in an embodiment of the present application;
[0076] Figure 3 A schematic diagram of a flow chart of a third method for updating a transportation network provided in an embodiment of the present application;
[0077] Figure 4 A schematic flow chart of a fourth method for updating a transport network provided in an embodiment of the present application;
[0078] Figure 5 A schematic diagram of a fifth method for updating a transportation network provided in an embodiment of the present application;
[0079] Figure 6 A schematic diagram of a flow chart of a method for updating a complete transport network provided in an embodiment of the present application;
[0080] Figure 7A schematic diagram of a method for updating a transportation network provided in an embodiment of the present application;
[0081] Figure 8 A structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0082] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of order, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.
[0083] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.
[0084] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.
[0085] Optionally, the method for updating the transportation network provided in the embodiment of the present application is applied to an electronic device, which may be a terminal device with computing and display capabilities, such as a mobile phone, a tablet computer, a laptop computer, a PDA, a desktop computer, or a server. Specifically, it may be applied to an application in a terminal device, such as an APP (application, mobile phone software) of a mobile phone, an application system on a computer, etc.
[0086] The specific implementation process of the transportation network updating method provided in the embodiment of the present application is explained in detail below.
[0087] Figure 1The present invention provides a flow chart of a method for updating a transportation network, wherein the execution subject of the method is the aforementioned electronic device. Figure 1 As shown, the method includes:
[0088] S101, obtaining the trajectory set of all transport vehicles in the previous shift of the current shift and the current road network.
[0089] Optionally, the previous shift of the current shift refers to the shift before the electronic device is restarted, and the current shift refers to the shift after the electronic device is restarted.
[0090] Optionally, there may be at least one track or no track in the track set of all transport vehicles in the previous shift of the current shift. There may be a path or no path in the current road network.
[0091] S102: Determine whether there is a trajectory in the trajectory set.
[0092] Optionally, if the trajectory exists in the trajectory set, the following S103 is executed; if the trajectory does not exist in the trajectory set, S104 is executed.
[0093] S103: Generate a first initialized road network according to the trajectory set and the current road network.
[0094] Specifically, the current road network may be initialized according to the trajectory set, thereby generating the first initialized road network. After the first initialized road network is generated, the following S106 is executed.
[0095] S104: Determine whether there is a path in the current road network.
[0096] Optionally, if there is a path in the current road network, execute the following S105; if there is no path in the current road network, execute the following S107.
[0097] S105. Generate a first initialized road network according to the current road network.
[0098] Specifically, if there is a path in the current road network, the current road network is directly used as the first initialized road network, and after the first initialized road network is generated, the following S106 is executed.
[0099] S106, obtaining the newly added tracks currently formed for the current shift, and dynamically updating the first initialized road network according to the first initialized road network, the newly added tracks currently formed for the current shift, and the new newly added tracks formed during the operation of the current shift.
[0100] Among them, the newly added trajectory currently formed for the current shift is the trajectory after the currently formed new trajectory of the current shift, and the new added trajectory can be any trajectory after the currently formed new trajectory, that is, the formation time of the new added trajectory is greater than the formation time of the currently formed new trajectory.
[0101] S107: Acquire the newly added tracks currently formed for the current shift, and generate a second initialized road network according to the newly added tracks currently formed.
[0102] Optionally, the newly added loading and unloading records of the transport vehicle in the current shift can be monitored in real time, and the loading and unloading records can be parsed, and the loading point can be used as the starting point of the newly added track, and the unloading point can be used as the end point of the newly added track, which is the newly added track currently formed in the current shift. Among them, the newly added track currently formed in the current shift is the first newly added track formed in the current shift.
[0103] Specifically, the current road network may be initialized using a preset method using the newly added trajectory that has been formed, and after the second initialized road network is generated, the following S108 is executed.
[0104] S108. Dynamically update the second initialized road network according to the second initialized road network and new newly added tracks formed during the operation of the current shift.
[0105] Specifically, the second initialized road network can be dynamically updated using new newly added trajectories formed during the current shift operation.
[0106] In this embodiment, when there are trajectories in the trajectory set, a first initialized road network is generated according to the trajectory set and the current road network. If there are no trajectories in the trajectory set and there are paths in the current road network, the first initialized road network is generated according to the previous road network. If there are no trajectories in the trajectory set and there are no paths in the current road network, a second initialized road network is generated according to the newly added trajectories currently formed in the current shift. After generating the first initialized road network or the second initialized road network, it is only necessary to dynamically update the first initialized road network according to the first initialized road network, the newly added trajectories currently formed in the current shift, and the new newly added trajectories formed during the operation of the current shift, or dynamically update the second initialized road network according to the second initialized road network and the new newly added trajectories formed during the operation of the current shift. That is, in this application, after the current road network only needs to be initialized once, after the new trajectories are formed in the current shift, it is only necessary to dynamically update the initialized road network according to the newly added estimates and the initialized road network, thereby realizing real-time updating of the road network, with small amount of calculation, strong applicability, no need for base road network information, and no need for manual participation, thereby improving the real-time and speed of road network updating.
[0107] Optionally, generating a first initialized road network according to the trajectory set and the current road network in S103 may include:
[0108] Optionally, when there are trajectories in the trajectory set and there are paths in the current road network, a first initialized road network may be generated according to each trajectory in the trajectory set and each path in the current road network.
[0109] Optionally, when there are trajectories in the trajectory set and there are no paths in the current road network, a first initialized road network may be generated according to each trajectory in the trajectory set.
[0110] Optionally, the generating of the first initialized road network according to each track in the track set and each path in the current road network may include:
[0111] Optionally, when there are trajectories in the trajectory set and there are paths in the current road network, the first initialized road network may be generated according to the overlap between each trajectory in the trajectory set and each path in the current road network, the length of each trajectory and the length of each path.
[0112] Specifically, each trajectory in the trajectory set can be traversed first. For the current trajectory traversed, it can be determined whether to add the current trajectory to the current road network as a new path or determine to generate a new path based on the overlap between the current trajectory and the paths in the current road network, the length of the current trajectory and the lengths of the paths, and add the generated new path to the current road network, thereby updating the current road network and generating a first initialized road network.
[0113] Figure 2 A flow chart of a second method for updating a transport network provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the above-mentioned generating the first initialized road network according to the overlap between each track in the track set and each path in the current road network, the length of each track and the length of each path may include:
[0114] S201, traverse each track in the track set, and execute the following step S202 for the current track traversed.
[0115] S202, traverse each path in the current road network, and execute the following S203 for the first current path traversed.
[0116] S203: Determine whether the overlap between the current trajectory and the first current path is greater than or equal to a preset threshold.
[0117] Optionally, if the overlap between the current trajectory and the first current path is greater than or equal to a preset threshold, the following step S204 is executed; if the overlap between the current trajectory and the first current path is less than the preset threshold, the following step S205 is executed.
[0118] S204: Determine whether the length of the current trajectory is greater than the length of the first current path.
[0119] Optionally, if the length of the current trajectory is greater than the length of the first current path, S206 is executed; if the length of the current trajectory is less than or equal to the length of the first current path, the following S207 is executed.
[0120] S205: Determine whether all paths in the current road network have been traversed.
[0121] Optionally, if all paths in the current network have been traversed and the overlap between all paths in the current network and the current trajectory is less than a preset threshold, the following S209 is executed. If all paths in the current network have not been traversed, a new first current path is selected from the current network and the process returns to S202.
[0122] S206: Replace the first current path in the current road network with the current trajectory.
[0123] Optionally, if the degree of overlap between the current trajectory and the first current path is greater than or equal to a preset threshold, and the length of the current trajectory is greater than the length of the first current path, it means that the current trajectory has a high degree of overlap with the first current path, and since the path will become longer over time as the excavation continues forward, the first current path can be replaced by the current trajectory.
[0124] Optionally, after executing step S206, step S207 is executed.
[0125] S207, forcibly ending the traversal of each path in the current road network, and executing the following S208.
[0126] S208: Determine whether all trajectories in the trajectory set have been traversed.
[0127] Optionally, if all trajectories in the trajectory set have not been traversed completely, a new current trajectory is selected from the trajectory set again, and the process returns to step S201 ; if all trajectories in the trajectory set have been traversed completely, the traversal is terminated.
[0128] S209, re-traversing each path in the current road network, and executing the following step S210 for the traversed second current path.
[0129] S210: Determine whether there is a last intersection point between the second current path and the current trajectory.
[0130] Optionally, if the second current path and the current track have a last intersection point, execute the following step S211; if the second current path and the current track do not have a last intersection point, execute the following step S212.
[0131] Among them, when determining whether the second current path and the current trajectory have a last intersection point, the second current path and the current trajectory can be preprocessed respectively. Specifically, the head and tail segments of the second current path can be removed from the second current path according to a preset ratio, and the head and tail segments of the current trajectory can be removed from the current trajectory according to a preset record, so as to obtain the middle segment of the second current path and the middle segment of the current trajectory, and then determine whether the middle segment of the second current path and the middle segment of the current trajectory have a last intersection point.
[0132] S211 , generating a new path according to the first starting point and the first end point of the second current path, the second starting point and the second end point of the current trajectory, and the last intersection point, and adding the new path to the newly added path set.
[0133] S212: Determine whether all paths in the current road network have been traversed.
[0134] Optionally, if all paths in the current network have not been traversed, a new second current path is selected from the current network, and the process returns to execute the above step S209. If all paths in the current network have been traversed, the following step S213 is executed.
[0135] S213, adding the current trajectory and the new path in the newly added path set to the first initial road network, and returning to execute step S208.
[0136] Figure 3 A schematic diagram of a flow chart of a third method for updating a transportation network provided in an embodiment of the present application, such as Figure 3 As shown, the process of determining the degree of overlap between the current trajectory and the first current path includes:
[0137] S301: Determine a first degree of overlap between the first current path and the current trajectory according to a minimum distance between each positioning point in the first current path and the current trajectory, a preset distance threshold, and the total number of positioning points in the first current path.
[0138] Specifically, the minimum distance from each positioning point in the first current path B to the current trajectory A can be calculated to obtain multiple minimum distances, and then the number of minimum distances less than the distance threshold is determined, thereby obtaining the number of positioning points N1 whose minimum distance from each positioning point in the first current path B to the current trajectory A is less than the distance threshold, and then the number of points N1 is divided by the total number N of positioning points in the first current path B, thereby obtaining the first overlap degree between the first current path B and the current trajectory A, for example, the first overlap degree is represented by WB.
[0139] S302: Determine a second degree of overlap between the current trajectory and the first current path according to a minimum distance between each positioning point in the current trajectory and the first current path, a preset distance threshold, and the total number of positioning points in the current trajectory.
[0140] Specifically, the minimum distance from each positioning point in the current trajectory A to the first current path B can be calculated to obtain multiple minimum distances, and then the number of minimum distances less than the distance threshold is determined, thereby obtaining the number of positioning points M1 whose minimum distance from each positioning point in the current trajectory A to the first current path B is less than the distance threshold, and then the number of points M1 is divided by the total number of positioning points M in the current trajectory A, thereby obtaining the second overlap degree between the current trajectory A and the first current path B, for example, the second overlap degree is represented by WA.
[0141] S303: Use the first overlap degree and the second overlap degree as overlap degrees between the current trajectory and the first current path.
[0142] Specifically, the degree of overlap between the current trajectory and the first current path includes a first degree of overlap WB and a second degree of overlap WA.
[0143] In the above description, judging whether the overlap between the current trajectory and the first current path is greater than or equal to the preset threshold is to judge whether the first overlap WB and the second overlap WA are both greater than or equal to the preset threshold. Specifically, if the first overlap WB and the second overlap WA are both greater than or equal to the preset threshold, the overlap between the current trajectory and the first current path is greater than or equal to the preset threshold; if the first overlap WB and / or the second overlap WA are less than the preset threshold, the overlap between the current trajectory and the first current path is less than the preset threshold.
[0144] It is worth noting that the process of determining the degree of overlap between other trajectories and other paths is the same as the process of determining the degree of overlap between the current trajectory and the first current path, and will not be described in detail here.
[0145] Figure 4 A schematic diagram of a fourth method for updating a transport network provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, in the above S211, generating a new path according to the first starting point and the first end point of the second current path, the second starting point and the second end point of the current track, and the last intersection point, and adding the new path to the newly added path set may include:
[0146] S401: Connect a first line segment between a first starting point and a last intersection point with a second line segment between the last intersection point and a second end point to obtain a first new path.
[0147] Exemplarily, if the first starting point of the second current path is C and the first end point of the second current path is D, the line segment formed by the first starting point C and the first end point D is the second current path. The second starting point of the current trajectory is E and the second end point of the current trajectory is F, then the line segment formed by the second starting point E and the second end point F is the current trajectory. If the last intersection point of the second current path and the current trajectory is O, the first line segment CO from the first starting point C to the last intersection point O is spliced with the second line segment OF from the last intersection point O to the second end point F to obtain the first new path, and the line segment from point C to point O to point F is the first new path.
[0148] S402: Connect the third line segment between the second starting point and the last intersection point with the fourth line segment between the last intersection point and the first end point to obtain a second new path.
[0149] Specifically, the third line segment EO between the second starting point E and the last intersection point O is spliced with the fourth line segment OD between the last intersection point O and the first end point D to obtain a second new path, and the line segment from point E to point O to point D is the second new path.
[0150] S403: Use the first new path and the second new path as new paths.
[0151] Specifically, a new path including a first new path and a second new path is generated according to the first starting point and the first end point of the second current path, the second starting point and the second end point of the current track, and the last intersection point.
[0152] Optionally, when there are trajectories in the trajectory set and there are no paths in the current road network, generating a first initialized road network according to each trajectory in the trajectory set may include:
[0153] Optionally, if there is no path in the current road network, it means that the current road network is empty, and a target trajectory can be selected from the trajectory set as the first path in the first initialized road network, wherein each trajectory in the trajectory set can be recorded in order of time, and the target trajectory can be the first trajectory in the trajectory set and the trajectory is a real-time trajectory obtained by real-time monitoring of the loading and unloading actions of the transport vehicle. If the first trajectory is not a real-time trajectory obtained by real-time monitoring of the loading and unloading actions of the transport vehicle, the trajectory is removed from the trajectory set, and the next trajectory of the first trajectory is selected as the new first trajectory, until the new first trajectory meets the condition of being a real-time trajectory obtained by real-time monitoring of the loading and unloading actions of the transport vehicle, and the new first trajectory is used as the target trajectory.
[0154] Optionally, when the target trajectory is used as the first path in the first initialized road network, it means that the paths in the first initialized road network are not empty at this time, then the traversal of the trajectories in the trajectory set except the target trajectory continues, and for the current traversed trajectory, the path to be added to the first initialized road network can be determined based on the overlap between the current trajectory and the current paths in the first initialized road network, the length of the current trajectory and the length of the current paths in the first initialized road network, and the path to be added is added to the first initialized road network.
[0155] Among them, the process of determining the path to be added to the current first initialized road network is the same as the aforementioned steps S202 to S213, and the determined path to be added can be the current trajectory or a new path generated based on the first starting point and the first end point of the current path in the traversed first initialized road network, the second starting point and the second end point of the current trajectory, and the last intersection point.
[0156] Figure 5 A schematic diagram of a fifth method for updating a transportation network provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the above S106 acquires the currently formed newly added track of the current shift, and dynamically updates the first initialized road network according to the first initialized road network, the currently formed newly added track of the current shift, and the new newly added track formed during the operation of the current shift, which may include:
[0157] S501. Update the first initialized road network according to the newly formed tracks of the current shift and the paths in the first initialized road network to obtain an updated road network.
[0158] Optionally, the first initialized road network may be updated based on the overlap between the newly added trajectory and each path in the first initialized road network, the length of the newly added trajectory and the length of each path in the first initialized road network. The specific updating process is the same as the aforementioned steps S202 to S203.
[0159] Specifically, for the newly added trajectory, each path in the first initialized road network can be traversed. For the traversed third current path, if the overlap between the newly added trajectory and the third current path is greater than or equal to a preset threshold, and the length of the newly added trajectory is greater than the length of the third current path, the third current path in the first initialized road network is replaced by the newly added trajectory.
[0160] Optionally, if all paths in the first initialized road network have been traversed, and the degree of overlap between all paths in the first initialized road network and the newly added trajectory is less than a preset threshold, then the paths in the first initialized road network are traversed again. For the traversed fourth current path, if the fourth current path has a last intersection point with the newly added trajectory, then a new path is generated based on the first starting point and the first end point of the fourth current path, the second starting point and the second end point of the newly added trajectory, and the last intersection point, and the new path is added to the newly added path set; if the paths of the first initialized road network have been retraversed, the newly added trajectory and each new path in the newly added path set are added to the first initialized road network, thereby obtaining an updated road network.
[0161] S502: Dynamically update the updated road network according to the newly added tracks formed during the current shift operation and the paths in the updated road network.
[0162] Optionally, if a new additional trajectory is formed during the current shift, the updated road network is updated based on the degree of overlap between the new additional trajectory and the current paths in the updated road network, the length of the new additional trajectory and the length of the current paths in the updated road network. The specific updating process is the same as step S501.
[0163] Optionally, in S108 above, dynamically updating the second initialized road network according to the second initialized road network and the newly added tracks formed during the current shift operation may include:
[0164] Optionally, the second initialized road network can be updated based on the overlap between the new added trajectory and the current paths in the second initialized road network, the length of the new added trajectory and the length of the current paths in the second initialized road network. The specific process of the update is the same as step S501 and will not be repeated here.
[0165] Figure 6 A schematic diagram of a flow chart of a method for updating a complete transport network provided in an embodiment of the present application, Figure 6 The various steps in the above-mentioned specific implementation methods have been described in detail and will not be repeated here.
[0166] Figure 7 A schematic diagram of a method for updating a transport network provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the device comprises:
[0167] The acquisition module 601 is used to acquire the trajectory set of all transport vehicles in the previous shift of the current shift and the current road network;
[0168] A generating module 602 is configured to generate a first initialization road network according to the trajectory set and the current road network if there is a trajectory in the trajectory set;
[0169] A generating module 602, configured to generate the first initialization road network according to the current road network if there is no track in the track set and there is a path in the current road network;
[0170] A generating module 602 is configured to obtain a newly formed track of the current shift if there is no track in the track set and there is no path in the current road network, and generate a second initialization road network according to the newly formed track;
[0171] The updating module 603 is used to dynamically update the first initialized road network according to the first initialized road network, the newly added tracks currently formed in the current shift, and the newly added tracks formed during the operation of the current shift; or dynamically update the second initialized road network according to the second initialized road network and the newly added tracks formed during the operation of the current shift.
[0172] Optionally, the generating module 602 is specifically used for:
[0173] If there are paths in the current road network, generating the first initialized road network according to each trajectory in the trajectory set and each path in the current road network;
[0174] If no path exists in the current road network, the first initialization road network is generated according to each trajectory in the trajectory set.
[0175] Optionally, the generating module 602 is specifically used for:
[0176] The first initialized road network is generated according to the overlap between each trajectory in the trajectory set and each path in the current road network, the length of each trajectory and the length of each path.
[0177] Optionally, the generating module 602 is specifically used for:
[0178] Traverse each track in the track set, and execute the following steps AB for the current track traversed:
[0179] A. traversing each path in the current road network, for a first current path traversed, if the overlap between the current trajectory and the first current path is greater than or equal to a preset threshold, and the length of the current trajectory is greater than the length of the first current path, then replacing the first current path in the current road network with the current trajectory;
[0180] B. If all paths in the current road network have been traversed, and the overlap between all paths in the current road network and the current trajectory is less than a preset threshold, then re-traverse all paths in the current road network. For the traversed second current path, if the second current path has a last intersection with the current trajectory, then generate a new path according to the first starting point and the first end point of the second current path, the second starting point and the second end point of the current trajectory, and the last intersection point, and add the new path to the newly added path set; if all paths in the current road network have been re-traversed, then add the current trajectory and each new path in the newly added path set to the first initialized road network.
[0181] Optionally, the generating module 602 is specifically used for:
[0182] Determining a first degree of overlap between the first current path and the current trajectory according to a minimum distance between each positioning point in the first current path and the current trajectory, a preset distance threshold, and a total number of positioning points in the first current path;
[0183] Determining a second degree of overlap between the current trajectory and the first current path according to a minimum distance between each positioning point in the current trajectory and the first current path, a preset distance threshold, and a total number of positioning points in the current trajectory;
[0184] The first overlap degree and the second overlap degree are used as overlap degrees between the current trajectory and the first current path.
[0185] Optionally, the generating module 602 is specifically used for:
[0186] Connecting a first line segment between the first starting point and the last intersection point with a second line segment between the last intersection point and the second end point to obtain a first new path;
[0187] splicing the third line segment between the second starting point and the last intersection point with the fourth line segment between the last intersection point and the first end point to obtain a second new path;
[0188] The first new path and the second new path are used as the new path.
[0189] Optionally, the generating module 602 is specifically used for:
[0190] Selecting a target trajectory from the trajectory set as the first path in the first initialized road network;
[0191] Traversing each trajectory in the trajectory set except the target trajectory, for the traversed current trajectory, determining a path to be added to the first initialized road network according to the overlap between the current trajectory and the current paths in the first initialized road network, the length of the current trajectory, and the length of the current paths in the first initialized road network, and adding the path to be added to the first initialized road network.
[0192] Optionally, the updating module 603 is specifically used for:
[0193] According to the newly formed tracks of the current shift and the paths in the first initialized road network, the first initialized road network is updated to obtain an updated road network;
[0194] The updated road network is dynamically updated according to the new additional tracks formed during the operation of the current shift and the paths in the updated road network.
[0195] Optionally, the updating module 603 is specifically used for:
[0196] According to the overlap between the new added trajectory and the current paths in the second initialized road network, the length of the new added trajectory and the length of the current paths in the second initialized road network, the path to be added to the second initialized road network is determined, and the path to be added is added to the second initialized road network.
[0197] Figure 8 FIG. 7 is a structural block diagram of an electronic device 700 provided in an embodiment of the present application. Figure 8 As shown, the electronic device may include: a processor 701 and a memory 702 .
[0198] Optionally, a bus 703 may also be included, wherein the memory 702 is used to store machine-readable instructions executable by the processor 701. When the electronic device 700 is running, the processor 701 communicates with the memory 702 through the bus 703. When the machine-readable instructions are executed by the processor 701, the method steps in the above method embodiment are performed.
[0199] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method steps in the above-mentioned embodiment of the method for updating the transportation network are executed.
[0200] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.
[0201] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program code.
[0202] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.
Claims
1. A method for updating a transportation network, characterized in that: The method comprises: Get the trajectory set of all transport vehicles in the previous shift and the current road network; If there are trajectories in the trajectory set, generating a first initialized road network according to the trajectory set and the current road network; If there is no trajectory in the trajectory set and there is a path in the current road network, generating the first initialization road network according to the current road network; If there is no track in the track set and there is no path in the current road network, then obtaining the currently formed newly added track of the current shift, and generating a second initialized road network according to the currently formed newly added track; The first initialized road network is dynamically updated according to the first initialized road network, the newly added tracks currently formed in the current shift, and the newly added tracks formed during the operation of the current shift; or the second initialized road network is dynamically updated according to the second initialized road network and the newly added tracks formed during the operation of the current shift.
2. The method for updating a transportation network according to claim 1, characterized in that: The step of generating a first initialized road network according to the trajectory set and the current road network includes: If there are paths in the current road network, generating the first initialized road network according to each trajectory in the trajectory set and each path in the current road network; If no path exists in the current road network, the first initialization road network is generated according to each trajectory in the trajectory set.
3. The method for updating a transportation network according to claim 2, characterized in that: The step of generating the first initialized road network according to each track in the track set and each path in the current road network includes: The first initialized road network is generated according to the overlap between each trajectory in the trajectory set and each path in the current road network, the length of each trajectory and the length of each path.
4. The method for updating a transportation network according to claim 3, characterized in that: The generating the first initialized road network according to the overlap between each trajectory in the trajectory set and each path in the current road network, the length of each trajectory and the length of each path comprises: Traverse each track in the track set, and execute the following steps AB for the current track traversed: A. traversing each path in the current road network, for a first current path traversed, if the overlap between the current trajectory and the first current path is greater than or equal to a preset threshold, and the length of the current trajectory is greater than the length of the first current path, then replacing the first current path in the current road network with the current trajectory; B. If all paths in the current road network have been traversed, and the overlap between all paths in the current road network and the current trajectory is less than a preset threshold, then re-traverse all paths in the current road network. For the traversed second current path, if the second current path has a last intersection with the current trajectory, then generate a new path according to the first starting point and the first end point of the second current path, the second starting point and the second end point of the current trajectory, and the last intersection point, and add the new path to the newly added path set; if all paths in the current road network have been re-traversed, then add the current trajectory and each new path in the newly added path set to the first initialized road network.
5. The method for updating a transportation network according to claim 4, characterized in that: The process of determining the degree of overlap between the current trajectory and the first current path includes: Determining a first degree of overlap between the first current path and the current trajectory according to a minimum distance between each positioning point in the first current path and the current trajectory, a preset distance threshold, and a total number of positioning points in the first current path; Determining a second degree of overlap between the current trajectory and the first current path according to a minimum distance between each positioning point in the current trajectory and the first current path, a preset distance threshold, and a total number of positioning points in the current trajectory; The first overlap degree and the second overlap degree are used as overlap degrees between the current trajectory and the first current path.
6. The method for updating a transportation network according to claim 4, characterized in that: The generating a new path according to the first starting point and the first end point of the second current path, the second starting point and the second end point of the current trajectory and the last intersection point comprises: Connecting a first line segment between the first starting point and the last intersection point with a second line segment between the last intersection point and the second end point to obtain a first new path; splicing the third line segment between the second starting point and the last intersection point with the fourth line segment between the last intersection point and the first end point to obtain a second new path; The first new path and the second new path are used as the new path.
7. The method for updating a transportation network according to claim 2, characterized in that: The generating the first initialization road network according to each trajectory in the trajectory set includes: Selecting a target trajectory from the trajectory set as the first path in the first initialized road network; Traversing each trajectory in the trajectory set except the target trajectory, for the traversed current trajectory, determining a path to be added to the first initialized road network according to the overlap between the current trajectory and the current paths in the first initialized road network, the length of the current trajectory, and the length of the current paths in the first initialized road network, and adding the path to be added to the first initialized road network.
8. The method for updating a transportation network according to claim 1, characterized in that: The dynamically updating the first initialized road network according to the first initialized road network, the newly added tracks currently formed in the current shift, and the newly added tracks formed during the operation of the current shift includes: According to the newly formed tracks of the current shift and the paths in the first initialized road network, the first initialized road network is updated to obtain an updated road network; The updated road network is dynamically updated according to the new additional tracks formed during the operation of the current shift and the paths in the updated road network.
9. The method for updating a transportation network according to claim 1, characterized in that: The dynamically updating the second initialized road network according to the second initialized road network and the new newly added tracks formed during the operation of the current shift includes: According to the overlap between the new added trajectory and the current paths in the second initialized road network, the length of the new added trajectory and the length of the current paths in the second initialized road network, the path to be added to the second initialized road network is determined, and the path to be added is added to the second initialized road network.
10. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, the steps of the method for updating the transportation network described in any one of claims 1 to 9 are implemented.