Path updating method, device, computer equipment and readable storage medium

Abstract

The present application relates to a path updating method, device, computer equipment and readable storage medium; when it is detected that the target working position corresponding to the target vehicle does not match the initial working position, the current position of the target vehicle is determined; path planning is performed according to the current position and the target working position to obtain an updated path; the target vehicle is controlled to travel to the target working position according to the updated path; the offset of the target working position can be responded to in time, and the path planning is performed in real time to obtain the latest updated path, which effectively avoids the problem of inaccurate path positioning of unmanned mining vehicles caused by changes in the position of retaining walls in traditional technologies, and improves the accuracy and reliability of path positioning of the target vehicle during the operation process.

Description

Technical Field

[0001] The present application relates to the field of path planning technology, and in particular to a path updating method, device, computer equipment and readable storage medium. Background Art

[0002] In the field of unmanned mining vehicles, automated earth removal operations are one of the key technologies to improve the efficiency and safety of mine operations. Usually, when performing earth removal operations, fixed earth removal paths are set for unmanned mining vehicles to ensure that they can accurately stop at the predetermined retaining wall position and complete the earth removal task. Summary of the invention

[0003] At present, in actual operation, the position of the retaining wall is not fixed. Due to the influence of various factors, such as some waste materials accidentally poured into the retaining wall during the earth discharge process, or the bulldozer adjusted the retaining wall when tidying the site, these will cause the actual position of the retaining wall to change, and thus cannot ensure that the unmanned mining car can accurately stop at the predetermined retaining wall position, affecting the progress of the earth discharge task. Based on this, it is necessary to provide a path updating method, device, computer equipment and readable storage medium for the above-mentioned technical problems.

[0004] In a first aspect, the present application provides a path updating method, the method further comprising:

[0005] In the case where it is detected that the target operation position corresponding to the target vehicle does not match the initial operation position, determining the current position of the target vehicle;

[0006] Perform path planning according to the current position and the target operation position to obtain an updated path;

[0007] The target vehicle is controlled to travel to the target working position according to the updated path.

[0008] In one embodiment, detecting that a target operating position corresponding to a target vehicle does not match an initial operating position includes:

[0009] Determining a target operating position corresponding to the target vehicle;

[0010] If the distance between the target working position and the initial working position is greater than a preset distance threshold, it is determined that the target working position corresponding to the target vehicle does not match the initial working position.

[0011] In one embodiment, determining a target operating position corresponding to the target vehicle includes:

[0012] Acquire an initial path corresponding to the target vehicle, and control the target vehicle to travel along the initial path;

[0013] During the process of the target vehicle traveling along the initial path, detecting the operating area corresponding to the target vehicle;

[0014] The target operation position is determined according to the actual position corresponding to the operation area.

[0015] In one embodiment, determining the target operation position according to the actual position corresponding to the operation area includes:

[0016] Determine a target bounding box corresponding to the operation area according to an actual position corresponding to the operation area;

[0017] Determine two target endpoints that are closest to the target vehicle and second closest to the target vehicle from the target bounding box;

[0018] Determine a straight line equation satisfied by the two target endpoints;

[0019] A target operating position is determined according to the straight line equation and the width information of the target vehicle.

[0020] In one embodiment, determining the straight line equation satisfied by the two target endpoints includes:

[0021] In a two-dimensional coordinate system, determining coordinate information corresponding to each of the two target endpoints;

[0022] According to the coordinate information corresponding to the two target endpoints respectively, the equations of the straight lines where the two target endpoints are located are calculated.

[0023] In one embodiment, determining the two target endpoints closest to the target vehicle and the second closest to the target vehicle from the target bounding box includes:

[0024] The target bounding box is projected onto a two-dimensional coordinate system to obtain a target rectangular frame; wherein the y-axis in the two-dimensional coordinate system coincides with the perpendicular bisector of the line connecting the rear wheels of the target vehicle; and the positive direction of the y-axis points to the front direction of the target vehicle;

[0025] The two target endpoints which are closest to the target vehicle and the second closest to the target vehicle are determined from the target rectangular frame.

[0026] In one embodiment, determining the target operating position according to the straight line equation and the width information of the target vehicle includes:

[0027] Determine a plurality of candidate points and candidate coordinates corresponding to each of the candidate points according to the straight line equation and the width information of the target vehicle;

[0028] A target operation position is determined according to the plurality of candidate points and the candidate coordinates corresponding to each of the candidate points.

[0029] In one embodiment, determining the target operation position according to the plurality of candidate points and the candidate coordinates corresponding to each of the candidate points includes:

[0030] Determine the absolute value of the y-axis coordinate corresponding to each candidate point according to the candidate coordinates corresponding to each candidate point;

[0031] The minimum value among the absolute values ​​of the y-axis coordinates is taken as the safe working distance;

[0032] Determine the vertical distance between the center of the rear wheel of the target vehicle and the rear of the vehicle;

[0033] A target operating position is determined according to the safe operating distance, the vertical distance and a preset error.

[0034] In one embodiment, determining the current position of the target vehicle includes:

[0035] The current position of the rear wheel center of the target vehicle is used as the current position corresponding to the target vehicle.

[0036] In one embodiment, the method further comprises:

[0037] The updated path is uploaded to the cloud scheduling management platform, so that the cloud scheduling management platform updates the initial path corresponding to the updated path according to the updated path.

[0038] In a second aspect, the present application further provides a path updating device, the device comprising:

[0039] A determination module, used to determine the current position of the target vehicle when it is detected that the target operation position corresponding to the target vehicle does not match the initial operation position;

[0040] An updating module, configured to perform path planning according to the current position and the target operation position to obtain an updated path;

[0041] A control module is used to control the target vehicle to travel to the working position according to the updated path.

[0042] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method described in any one of the embodiments of the first aspect are implemented.

[0043] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method described in any one of the embodiments of the first aspect above are implemented.

[0044] In a fifth aspect, the present application further provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the method described in any one of the embodiments of the first aspect above.

[0045] The above-mentioned path updating method, device, computer equipment and readable storage medium can quickly determine the current position of the target vehicle when it is detected that the target working position corresponding to the target vehicle does not match the initial working position; then, accurate path planning is performed according to the current position and the target working position to obtain an updated path, and the target vehicle is controlled to travel to the target working position according to the updated path. Based on this, it is possible to respond to the offset of the target working position in a timely manner and perform real-time path planning to obtain the latest updated path, effectively avoiding the problem of inaccurate path positioning of unmanned mining vehicles caused by changes in the position of retaining walls in traditional technologies, and improving the accuracy and reliability of path positioning of the target vehicle during the operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 An application environment diagram of a path updating method in an embodiment;

[0048] Figure 2 A schematic diagram of a flow chart of a path updating method in one embodiment;

[0049] Figure 3 A schematic diagram of a flow chart of a step of determining a target operating position corresponding to a target vehicle in an embodiment;

[0050] Figure 4 A schematic diagram of a flow chart of a step of determining a target operation position in a specific embodiment;

[0051] Figure 5 A schematic diagram of the positions of a target vehicle and an operating area corresponding to a two-dimensional coordinate system in one embodiment;

[0052] Figure 6It is a flowchart of the steps of determining the target working position according to the straight line equation and the width information of the target vehicle in one embodiment;

[0053] Figure 7 A schematic diagram of path updating in one embodiment;

[0054] Figure 8 It is a flowchart of a path updating method in a specific embodiment;

[0055] Fig. 9 is a structural block diagram of a path updating device in one embodiment;

[0056] Fig.10 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0058] The path updating method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the terminal 102 communicates with the server 104 through a communication network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. Among them, the terminal 102 can be, but is not limited to, various personal computers, laptops, etc. The server 104 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services.

[0059] In one embodiment, Figure 2 As shown, Figure 2 : is a flow chart of a path updating method in an embodiment; this embodiment takes the method applied to a terminal as an example, and it can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0060] Step S201, when it is detected that the target working position corresponding to the target vehicle does not match the initial working position, determine the current position of the target vehicle.

[0061] Among them, the target vehicle may include but is not limited to unmanned vehicles, such as unmanned mining vehicles; the target operation position refers to the actual location where the target vehicle needs to reach and perform a specific operation; the initial operation position refers to the originally planned location where the target vehicle needs to reach and perform a specific operation.

[0062] It should be noted that the mining environment may change due to weather changes, geological changes or other natural factors, resulting in the originally planned initial working position no longer being applicable. Therefore, during the driving process of the target vehicle, it is necessary to detect in real time whether the target working position corresponding to the target vehicle matches the initial working position, to ensure that when it is detected that the target working position does not match the initial working position, the driving path can be quickly replanned to ensure that the target vehicle can reach the target working position safely and accurately.

[0063] In an exemplary embodiment, a method for detecting whether a target working position corresponding to a target vehicle matches an initial working position may be: detecting the target working position corresponding to the target vehicle in real time through a sensor; comparing the target working position with the initial working position to determine whether the target working position matches the initial working position; wherein the sensor may include but is not limited to a lidar, a millimeter-wave radar, a camera, etc.

[0064] Among them, the current position of the target vehicle refers to the current position of the center of the rear wheel of the target vehicle; among them, the center of the rear wheel of the target vehicle refers to the center of the line connecting the two rear wheels of the target vehicle.

[0065] Step S202, performing path planning according to the current position and the target operation position to obtain an updated path.

[0066] Exemplarily, a method for performing path planning based on a current position and a target working position may be: based on the current position and the target as positions, determining the shortest straight-line distance corresponding to the current position and the target as positions, and generating an updated path based on the shortest straight-line distance.

[0067] Step S203, controlling the target vehicle to travel to the target working position according to the updated path.

[0068] Exemplarily, taking the target vehicle in the process of driving as an example, the target working position corresponding to the target vehicle is detected in real time. When it is detected that the target working position corresponding to the target vehicle does not match the initial working position, the current position of the target vehicle is determined, and then the path is re-planned based on the current position and the currently detected target working position to generate the latest updated path, and the target vehicle is controlled to drive according to the updated path to ensure that the target vehicle can accurately drive to the target working position.

[0069] In this embodiment, when it is detected that the target working position corresponding to the target vehicle does not match the initial working position, the current position of the target vehicle can be quickly determined; then, accurate path planning is performed based on the current position and the target working position to obtain an updated path, and the target vehicle is controlled to travel to the target working position along the updated path. Based on this, it is possible to respond to the offset of the target working position in a timely manner and perform real-time path planning to obtain the latest updated path, thereby effectively avoiding the problem of inaccurate path positioning of unmanned mining vehicles caused by changes in the position of retaining walls in traditional technologies, and improving the accuracy and reliability of path positioning of target vehicles during the operation process.

[0070] In one embodiment, detecting that the target operation position corresponding to the target vehicle does not match the initial operation position includes the following steps:

[0071] Step 1: determine the target operation position corresponding to the target vehicle.

[0072] Step 2: If the distance between the target working position and the initial working position is greater than a preset distance threshold, it is determined that the target working position corresponding to the target vehicle does not match the initial working position.

[0073] Among them, the preset distance threshold is between 0.5-3 meters, or 1-3 meters, or 2-3 meters; if it exceeds this range, it means that the target working position does not match the initial working position.

[0074] Exemplarily, during the driving process of the target vehicle, the target work position corresponding to the target vehicle is detected in real time; the distance between the target work position and the initial work position is calculated, and it is determined whether the distance between the target work position and the initial work position is greater than a preset distance threshold; if the distance between the target work position and the initial work position is greater than the preset distance threshold, it is determined that the target work position corresponding to the target vehicle does not match the initial work position, and a path update is required; if the distance between the target work position and the initial work position is less than or equal to the preset distance threshold, it is determined that the target work position corresponding to the target vehicle matches the initial work position, and no path update is required at this time.

[0075] In this embodiment, by comparing the distance between the target working position and the initial working position with a preset distance threshold, it is possible to accurately determine whether the target working position of the target vehicle has shifted, so that when the target working position corresponding to the target vehicle does not match the initial working position, the path can be updated in time to avoid collision of the target vehicle, thereby improving the safety of the target vehicle's operation in the mining area.

[0076] In one embodiment, Figure 3 As shown, Figure 3The flowchart of the step of determining the target operation position corresponding to the target vehicle in one embodiment is as follows; determining the target operation position corresponding to the target vehicle includes the following steps:

[0077] Step S301, obtaining an initial path corresponding to the target vehicle, and controlling the target vehicle to travel along the initial path.

[0078] It should be noted that, before obtaining the initial path corresponding to the target vehicle and controlling the target vehicle to travel along the initial path in step S301, the process further includes: determining the initial path.

[0079] For example, take mine dumping as an example. Figure 7 As shown, when dumping soil at the target dumping position for the first time, the first unmanned vehicle is manually taken over, and a path A is obtained from the entrance of the target dumping position to the front of the retaining wall by combining GPS positioning, and the starting point of path A is recorded as O, and the end point of path A is recorded as M; the length of path A is equal to the straight-line distance between the starting point O and the end point M, recorded as OM; further, path A is uploaded to the cloud scheduling management platform through network communication equipment for storage. Among them, the target dumping position can be any dumping position in the mine operation area; among them, the cloud scheduling management platform is composed of a database server, a cloud server, etc., which are not specifically limited here.

[0080] Step S302: When the target vehicle is traveling along the initial path, the operating area corresponding to the target vehicle is detected.

[0081] The working area may be, but is not limited to, a retaining wall.

[0082] Step S303, determining the target operation position according to the actual position corresponding to the operation area.

[0083] It is understandable that when the location of the work area changes due to environmental factors, the originally planned initial work location will no longer be applicable. Therefore, it is necessary to determine the target work location based on the actual location corresponding to the work area.

[0084] In an exemplary embodiment, taking mine discharge as an example, when the target vehicle is discharging soil, it is necessary to first obtain its corresponding initial path, and then start driving along the initial path. When the target vehicle is driving along the initial path, the operating area corresponding to the target vehicle, i.e., the retaining wall, is detected in real time to determine the actual position of the operating area, i.e., the retaining wall, and then the target operating position is determined according to the actual position of the operating area.

[0085] In this embodiment, when the target vehicle is traveling along the initial path, the target working position can be accurately determined by detecting the actual position of the working area in real time, which lays a foundation for improving the accuracy and reliability of path positioning for path updating.

[0086] In an exemplary embodiment, while the target vehicle is traveling along the initial path, detecting the operating area corresponding to the target vehicle includes the following steps:

[0087] Step 1: When the target vehicle is traveling along the initial path, a plurality of point cloud data corresponding to the target recognition area on the initial path are obtained.

[0088] The target recognition area may include, but is not limited to, retaining walls or other obstacles on the initial path. Point cloud data refers to a set of vectors in a three-dimensional coordinate system, which is used to characterize the spatial features corresponding to the target recognition area; it is understandable that based on multiple point cloud data, the length, width and height of the target recognition area can be determined.

[0089] It should be noted that a work area detection device is installed at the rear of the target vehicle, and the work area detection device may be, but is not limited to, a laser radar. For example, based on the laser radar installed at the rear of the target vehicle, multiple point cloud data corresponding to the target recognition area on the initial path can be obtained.

[0090] Step 2: Calculate the three-dimensional bounding box corresponding to the target recognition area based on multiple point cloud data.

[0091] Exemplarily, multiple point cloud data are traversed to obtain the maximum value zmax and the minimum value zmin of the z-axis in the three-dimensional coordinate system; then, based on the maximum value zmax and the minimum value zmin of the z-axis, the mid-range number corresponding to the z-axis is calculated to be (zmin+zmax) / 2, and the height is zmax-zmin; further, the multiple point cloud data are reduced to two-dimensional point cloud data and rectangular frame fitting is performed to obtain a directed two-dimensional rectangle and feature parameters corresponding to the directed two-dimensional rectangle, wherein the feature parameters include the center, length, width and direction of the directed two-dimensional rectangle; further, based on the mid-range number and the directed two-dimensional rectangle, the three-dimensional bounding box corresponding to the target recognition area can be calculated; wherein, the length of the three-dimensional bounding box is equal to the length of the two-dimensional rectangle, the width of the three-dimensional bounding box is equal to the width of the two-dimensional rectangle, and the height of the three-dimensional bounding box is equal to zmax-zmin.

[0092] Step 3: If the spatial characteristic parameters of the three-dimensional bounding box meet the preset spatial characteristic parameters, the target recognition area is determined to be the operation area.

[0093] Among them, the spatial characteristic parameters of the three-dimensional bounding box include the length, width and height of the three-dimensional bounding box; wherein the preset spatial characteristic parameters are related to the spatial characteristics of the working area; illustratively, taking the working area as a retaining wall as an example, the spatial characteristics of the retaining wall include: the length of the retaining wall is greater than the body width of the target vehicle, and the height of the retaining wall is between 1 / 3 and 2 / 3 of the height of the rear wheels of the target vehicle.

[0094] Exemplarily, while the target vehicle is traveling along an initial path, multiple point cloud data corresponding to a target recognition area on the initial path are obtained, and based on the multiple point cloud data, a three-dimensional bounding box corresponding to the target recognition area is calculated; it is determined whether spatial feature parameters of the three-dimensional bounding box meet preset spatial feature parameters; if the spatial feature parameters of the three-dimensional bounding box meet the preset spatial feature parameters, the target recognition area is determined to be an operating area; if the spatial feature parameters of the three-dimensional bounding box do not meet the preset spatial feature parameters, it indicates that the operating area has not been detected and further detection is required.

[0095] In one embodiment, Figure 4 As shown, Figure 4 The flowchart of the step of determining the target operation position in a specific embodiment is as follows; determining the target operation position according to the actual position corresponding to the operation area includes the following steps:

[0096] Step S401: determining a target bounding box corresponding to the operating area according to the actual position corresponding to the operating area.

[0097] The target bounding box includes the three-dimensional geometric shape of the operating area. It is understandable that the position, size and direction of the operating area can be accurately determined by the target bounding box.

[0098] It should be noted that the method for determining the target bounding box corresponding to the operation area is the same as the principle of the method for determining the three-dimensional bounding box described in the above embodiment, and will not be described in detail here.

[0099] Step S402, determining the two target endpoints closest to the target vehicle and the second closest to the target vehicle from the target bounding box.

[0100] The target bounding box includes multiple endpoints.

[0101] In an exemplary embodiment, step S402, determining two target endpoints closest to the target vehicle and the second closest to the target vehicle from the target bounding box, includes the following steps:

[0102] Step 1: Project the target bounding box to a two-dimensional coordinate system to obtain a target rectangular box.

[0103] The y-axis in the two-dimensional coordinate system coincides with the perpendicular midline of the line connecting the rear wheels of the target vehicle; the positive direction of the y-axis points to the front direction of the target vehicle. The x-axis in the two-dimensional coordinate system coincides with the perpendicular midline of the line connecting the front and rear of the target vehicle.

[0104] Step 2: Determine the two target endpoints closest to the target vehicle and the second closest to the target vehicle from the target rectangular frame.

[0105] It should be noted that the target bounding box is a standard cube. By projecting the target bounding box onto a two-dimensional coordinate system, a corresponding target rectangular box can be obtained. Since the target rectangular box includes four endpoints, the vertical distances between the four endpoints and the rear of the target vehicle are sorted in order from near to far, and the first two endpoints with the closest distance are selected as the two target endpoints with the closest and second closest distances to the target vehicle.

[0106] In another exemplary embodiment, the method for determining the two target endpoints that are closest and second closest to the target vehicle from the target bounding box may also be: projecting multiple endpoints corresponding to the target bounding box into a two-dimensional coordinate system to obtain multiple projection endpoints; sorting the vertical distances between the multiple projection endpoints and the target vehicle in order from near to far, and determining the two target endpoints that are closest and second closest to the target vehicle from the multiple projection endpoints.

[0107] Step S403, determining the straight line equation satisfied by the two target endpoints.

[0108] Wherein, step S403, determining the straight line equation satisfied by the two target endpoints, includes the following steps:

[0109] Step 1: Determine the coordinate information corresponding to the two target endpoints in a two-dimensional coordinate system.

[0110] Step 2: Calculate the equation of the straight line where the two target endpoints are located according to the coordinate information corresponding to the two target endpoints.

[0111] The coordinate information corresponding to the target endpoint includes the x-axis coordinate and the y-axis coordinate.

[0112] Step S404, determining the target working position according to the straight line equation and the width information of the target vehicle.

[0113] For example, a laser radar is installed at the rear of the target vehicle. Figure 5 According to the detection range of the laser radar and the actual position corresponding to the working area 100, the target bounding box corresponding to the working area 100 is determined, and the ratio of the length of the target bounding box to the width of the target vehicle is in the range of 1-5; or 2-4; or 1.1-1.3, the width of the target bounding box is greater than 0.3 meters, and the height of the target bounding box is 1 / 4-1 of the tire height; or 1 / 3-1; or 1 / 3-2 / 3.

[0114] The target bounding box is projected onto the two-dimensional coordinate system to obtain a target rectangular frame 200, which includes four endpoints, denoted as endpoint A, endpoint B, endpoint C, and endpoint D. Further, the vertical distances between endpoint A, endpoint B, endpoint C, and endpoint D and the rear of the target vehicle 300 are calculated respectively, and they are sorted in order from near to far, and the order of the sorted endpoints is endpoint A, endpoint D, endpoint B, and endpoint C. Therefore, from the target rectangular frame 200, it can be determined that the endpoint closest to the target vehicle 300 is endpoint A, and the second closest endpoint is endpoint D. Endpoint A is used as the first target endpoint, and endpoint D is used as the second target endpoint. In the two-dimensional coordinate system, the coordinate information of the first target endpoint is determined as (x A ,y A ), the coordinate information of the second target endpoint is (x D ,y D ). Further, according to (x A ,y A ) and (x D ,y D ), can be satisfied (x A ,y A ) and (x D ,y D ), the straight line equation is shown in formula (1). Further, according to the straight line equation and the width information of the target vehicle, the target operation position can be determined.

[0115]

[0116] In this embodiment, by accurately determining the target bounding box of the working area and projecting the target bounding box to the two-dimensional coordinate system to obtain the target rectangular frame, the two target endpoints that are closest and second closest to the target vehicle can be more accurately identified, thereby providing accurate basic data for subsequent straight line equation calculation and target working position determination; further, based on the coordinate information corresponding to each of the two target endpoints, the straight line equation satisfied by the two target endpoints can be accurately determined; based on the straight line equation, combined with the width information of the target vehicle, the target working position can be accurately positioned, and at the same time, potential collision risks can be effectively avoided to ensure the safety of the target vehicle when approaching the working area.

[0117] In one embodiment, Figure 6 As shown, according to the straight line equation and the width information of the target vehicle, determining the target operation position includes the following steps:

[0118] Step S601, determining a plurality of candidate points and candidate coordinates corresponding to each candidate point according to a straight line equation and width information of the target vehicle.

[0119] The candidate point refers to a point located on the straight line equation determined based on the width information of the target vehicle. The candidate coordinates corresponding to the candidate point include an x-axis coordinate and a y-axis coordinate.

[0120] Step S602: determining a target operation position according to a plurality of candidate points and candidate coordinates corresponding to each candidate point.

[0121] Wherein, step S602, determining the target operation position according to the plurality of candidate points and the candidate coordinates corresponding to each candidate point, includes the following steps:

[0122] Step 1: Determine the absolute value of the y-axis coordinate corresponding to each candidate point according to the candidate coordinates corresponding to each candidate point.

[0123] Step 2: Take the minimum value of the absolute value of the y-axis coordinate as the safe working distance.

[0124] Step 3, determine the vertical distance between the center of the rear wheel of the target vehicle and the rear of the vehicle.

[0125] Step 4: Determine the target working position based on the safe working distance, vertical distance and preset error.

[0126] The preset error needs to be set according to the performance of the target vehicle, for example, the distance error caused by braking, which is not specifically limited here. It can be understood that the preset error is used to avoid the potential collision risk before the target vehicle reaches the target working position, so as to further ensure the safety of the target vehicle.

[0127] For example, Figure 5 Taking the example as an example, based on the straight line equation recorded in the above embodiment and combined with the width information of the target vehicle, two candidate points and candidate coordinates corresponding to the candidate points can be determined, wherein the candidate points are candidate point E and candidate point F; the candidate coordinates of candidate point E are (x E ,y E ); the candidate coordinates of the candidate point F are (x F ,y F ). It can be understood that the sum of the absolute value of the x-axis coordinate corresponding to the candidate point E and the absolute value of the x-axis coordinate corresponding to the candidate point F is equal to the width of the target vehicle, that is, the width of the target vehicle is equal to |x E |+|x F |.

[0128] Further, based on the candidate coordinates corresponding to each candidate point, the absolute value of the y-axis coordinate corresponding to each candidate point is determined, and the absolute value of the y-axis coordinate corresponding to the candidate point E is obtained as |y E |, the absolute value of the y-axis coordinate corresponding to the candidate point F is |y F|; Let the safe working distance be yM, then we can determine the safe working distance yM=Min(|y E |,|y F |). Further, the vertical distance between the rear wheel center and the rear of the target vehicle is recorded as d1, the preset error is recorded as offset, and the target operating position is recorded as yd; according to the safe operating distance yM, the vertical distance d1 between the rear wheel center and the rear of the target vehicle, and the preset error offset, the target operating position yd = -yM + d1 + offset can be obtained.

[0129] It should be noted that in the actual working environment, the working area is not necessarily perpendicular to the target vehicle. Therefore, based on the candidate coordinates corresponding to multiple candidate points, the minimum value of the absolute value of the y-axis coordinate is used as the safe working distance, which can ensure that the target vehicle will not collide with the working area during driving, thereby improving the safety of the target vehicle during driving.

[0130] In this embodiment, by determining multiple candidate points and the candidate coordinates corresponding to each candidate point, the safe operating distance can be accurately determined, effectively avoiding potential collision risks; further, taking into account that the target vehicle may have braking errors during driving, the safety of the operation is further ensured by adding a preset error, and finally, the target operating position is determined based on the safe operating distance, the vertical distance between the center of the rear wheel of the target vehicle and the rear of the vehicle, and the preset error, which can ensure that the target vehicle can maintain a sufficient safety distance while operating, and take into account the actual situation of the target vehicle, thereby improving the safety of the entire operation process.

[0131] In one embodiment, determining the current position of the target vehicle includes:

[0132] The current position of the rear wheel center of the target vehicle is taken as the current position corresponding to the target vehicle.

[0133] In this embodiment, the current position of the rear wheel center of the target vehicle is used as the current position corresponding to the target vehicle, which can more accurately reflect the actual position of the target vehicle and lay a foundation for improving the accuracy of path updating.

[0134] In one embodiment, the updated path is uploaded to the cloud scheduling management platform, so that the cloud scheduling management platform updates the initial path corresponding to the updated path according to the updated path.

[0135] For example, Figure 7Take as an example, assuming that the initial path is path A, the starting point of path A is O, and the end point is M; assuming that the updated path is path B, the starting point of the updated path B is Q (that is, the current position of the target vehicle determined when it is detected that the target operating position corresponding to the target vehicle does not match the initial operating position), and the end point is P (that is, the target operating position); according to the updated path B, the initial path A is updated to obtain path C, and the starting point of path C is O, and the end point is P.

[0136] In this embodiment, by uploading the updated path to the cloud, the accuracy and real-time performance of the path planning can be ensured, laying the foundation for further improving the accuracy of the target vehicle path positioning. At the same time, it can effectively reduce operating costs and reduce the number of manual takeovers, so that path planning can better adapt to the complex and changeable working environment.

[0137] In a specific embodiment, see Figure 8 , taking the target vehicle as an unmanned mining vehicle as an example, a laser radar is installed at the rear of the target vehicle; when the target vehicle is driving along the initial path, the path updating method includes the following steps:

[0138] Step S801, when the target vehicle is traveling along the initial path, detecting the operating area corresponding to the target vehicle; and determining the target operating position according to the actual position corresponding to the operating area.

[0139] Step S802: determine whether the distance between the target operation position and the initial operation position is greater than a preset distance threshold.

[0140] If yes, execute step S803; if no, execute step S808.

[0141] Step S803: If the distance between the target working position and the initial working position is greater than a preset distance threshold, it is determined that the target working position corresponding to the target vehicle does not match the initial working position.

[0142] Step S804, determining the current position of the target vehicle.

[0143] Step S805, performing path planning according to the current position and the target operation position to obtain an updated path.

[0144] Step S806, controlling the target vehicle to travel to the target working position according to the updated path.

[0145] Step S807 , uploading the updated path to the cloud scheduling management platform, so that the cloud scheduling management platform updates the initial path corresponding to the updated path according to the updated path.

[0146] Step S808: If the distance between the target working position and the initial working position is less than or equal to the preset distance threshold, continue to travel along the initial path to the initial working position.

[0147] The above path updating method, in the first aspect, can quickly determine the current position of the target vehicle when it is detected that the target operation position corresponding to the target vehicle does not match the initial operation position; then, accurate path planning is performed according to the current position and the target operation position to obtain an updated path, and the target vehicle is controlled to travel to the target operation position according to the updated path. Based on this, it can timely respond to the offset of the target operation position, perform real-time path planning, and thus obtain the latest updated path, effectively avoiding the problem of inaccurate path positioning of the unmanned mining vehicle caused by the change of the retaining wall position in the traditional technology, and improving the accuracy and reliability of the path positioning of the target vehicle during the operation process. In the second aspect, by accurately determining the target bounding box of the operation area and projecting the target bounding box to the two-dimensional coordinate system to obtain the target rectangular frame, the two target endpoints closest to the target vehicle and the second closest to the target vehicle can be more accurately identified, thereby providing accurate basic data for the subsequent calculation of the straight line equation and determination of the target operation position; further, according to the coordinate information corresponding to each of the two target endpoints, the straight line equation satisfied by the two target endpoints can be accurately determined; based on the straight line equation, combined with the width information of the target vehicle, the accurate positioning of the target operation position can be achieved, and the potential collision risk can be effectively avoided to ensure the safety of the target vehicle when approaching the operation area. Thirdly, by determining multiple candidate points and the candidate coordinates corresponding to each candidate point, the safe operating distance can be accurately determined, effectively avoiding potential collision risks; further, taking into account that the target vehicle may have braking errors during driving, the safety of the operation is further ensured by adding a preset error. Finally, the target operating position is determined based on the safe operating distance, the vertical distance between the center of the rear wheel of the target vehicle and the rear of the vehicle, and the preset error. This ensures that the target vehicle can maintain a sufficient safety distance while taking into account the actual situation of the target vehicle during operation, thereby improving the safety of the entire operation process.

[0148] In one embodiment, a path update system is provided, which includes a cloud scheduling management platform and an unmanned driving control platform.

[0149] The unmanned driving control platform is used to execute the path updating method recorded in any of the above embodiments. The unmanned driving control platform may include, but is not limited to, an operation area detection device, a network communication device, an industrial computer, and a positioning device; wherein the positioning device may include, but is not limited to, a carrier phase differential function.

[0150] The cloud dispatch management platform may include, but is not limited to, a database server and a cloud server. It is understood that the cloud dispatch management platform and the unmanned driving control platform are connected in communication.

[0151] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0152] Based on the same inventive concept, the embodiment of the present application also provides a path updating device for implementing the path updating method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more path updating device embodiments provided below can refer to the limitations on the path updating method above, and will not be repeated here.

[0153] In an exemplary embodiment, Fig. 9 As shown, Fig. 9 9 is a structural block diagram of a path updating device in an embodiment; the path updating device comprises: a determination module 901, an updating module 902 and a control module 903;

[0154] A determination module 901 is used to determine the current position of the target vehicle when it is detected that the target operation position corresponding to the target vehicle does not match the initial operation position;

[0155] An updating module 902 is used to perform path planning according to the current position and the target operation position to obtain an updated path;

[0156] The control module 903 is used to control the target vehicle to travel to the working position according to the updated path.

[0157] The above-mentioned path updating device can quickly determine the current position of the target vehicle when it detects that the target working position corresponding to the target vehicle does not match the initial working position; then, it performs accurate path planning according to the current position and the target working position to obtain an updated path, and controls the target vehicle to travel to the target working position according to the updated path. Based on this, it can respond to the offset of the target working position in a timely manner and perform real-time path planning to obtain the latest updated path, which effectively avoids the problem of inaccurate path positioning of unmanned mining vehicles caused by changes in the position of retaining walls in traditional technologies, and improves the accuracy and reliability of path positioning of target vehicles during the operation process.

[0158] In one embodiment, the determination module 901 is further configured to

[0159] Determine the target operation position corresponding to the target vehicle;

[0160] If the distance between the target operating position and the initial operating position is greater than a preset distance threshold, it is determined that the target operating position corresponding to the target vehicle does not match the initial operating position.

[0161] In one embodiment, the determination module 901 is further configured to

[0162] Obtaining an initial path corresponding to the target vehicle, and controlling the target vehicle to travel along the initial path;

[0163] When the target vehicle is traveling along the initial path, detecting the operation area corresponding to the target vehicle;

[0164] Determine the target operation location based on the actual location corresponding to the operation area.

[0165] In one embodiment, the determination module 901 is further configured to

[0166] According to the actual position corresponding to the operation area, determine the target bounding box corresponding to the operation area;

[0167] Determine the two target endpoints closest to the target vehicle and the second closest to the target vehicle from the target bounding box;

[0168] Determine the equation of the line that the two target endpoints satisfy;

[0169] The target operation position is determined based on the straight line equation and the width information of the target vehicle.

[0170] In one embodiment, the determination module 901 is further configured to

[0171] In a two-dimensional coordinate system, determine the coordinate information corresponding to each of the two target endpoints;

[0172] According to the coordinate information corresponding to the two target endpoints, the equations of the straight lines where the two target endpoints are located are calculated.

[0173] In one embodiment, the determination module 901 is further configured to

[0174] The target bounding box is projected into a two-dimensional coordinate system to obtain a target rectangular frame; wherein the y-axis in the two-dimensional coordinate system coincides with the perpendicular bisector of the line connecting the rear wheels of the target vehicle; and the positive direction of the y-axis points to the front direction of the target vehicle;

[0175] Determine the two target endpoints closest to the target vehicle and the second closest to the target vehicle from the target rectangular frame.

[0176] In one embodiment, the determination module 901 is further configured to

[0177] According to the straight line equation and the width information of the target vehicle, multiple candidate points and candidate coordinates corresponding to each candidate point are determined;

[0178] A target operation position is determined based on multiple candidate points and candidate coordinates corresponding to each candidate point.

[0179] In one embodiment, the determination module 901 is further configured to

[0180] According to the candidate coordinates corresponding to each candidate point, determine the absolute value of the y-axis coordinate corresponding to each candidate point;

[0181] The minimum value among the absolute values ​​of the y-axis coordinates is taken as the safe working distance;

[0182] Determine the vertical distance between the center of the target vehicle's rear wheels and the rear of the vehicle;

[0183] Determine the target working position based on the safe working distance, vertical distance and preset error.

[0184] In one embodiment, the determination module 901 is further configured to

[0185] The current position of the rear wheel center of the target vehicle is taken as the current position corresponding to the target vehicle.

[0186] In one embodiment, the update module 902 is also used to

[0187] The updated path is uploaded to the cloud scheduling management platform, so that the cloud scheduling management platform updates the initial path corresponding to the updated path according to the updated path.

[0188] Each module in the above-mentioned path updating device can be implemented in whole or in part by software, hardware and a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module above.

[0189] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Fig.10 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store path update related data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a path update method is implemented.

[0190] Those skilled in the art will understand that Fig.10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0191] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0192] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0193] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0194] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0195] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0196] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A path updating method, characterized in that: The method further comprises: In the case where it is detected that the target operation position corresponding to the target vehicle does not match the initial operation position, determining the current position of the target vehicle; Perform path planning according to the current position and the target operation position to obtain an updated path; The target vehicle is controlled to travel to the target working position according to the updated path.

2. The method according to claim 1, characterized in that It is detected that the target operation position corresponding to the target vehicle does not match the initial operation position, including: Determining a target operating position corresponding to the target vehicle; If the distance between the target working position and the initial working position is greater than a preset distance threshold, it is determined that the target working position corresponding to the target vehicle does not match the initial working position.

3. The method according to claim 1 or 2, characterized in that: Determining a target operating position corresponding to the target vehicle includes: Acquire an initial path corresponding to the target vehicle, and control the target vehicle to travel along the initial path; During the process of the target vehicle traveling along the initial path, detecting the operating area corresponding to the target vehicle; The target operation position is determined according to the actual position corresponding to the operation area.

4. The method according to claim 3, characterized in that: The step of determining a target operation position according to an actual position corresponding to the operation area includes: Determine a target bounding box corresponding to the operation area according to an actual position corresponding to the operation area; Determine two target endpoints that are closest to the target vehicle and second closest to the target vehicle from the target bounding box; Determine a straight line equation satisfied by the two target endpoints; A target operating position is determined according to the straight line equation and the width information of the target vehicle.

5. The method according to claim 4, characterized in that The step of determining a straight line equation satisfied by the two target endpoints includes: In a two-dimensional coordinate system, determining coordinate information corresponding to each of the two target endpoints; According to the coordinate information corresponding to the two target endpoints respectively, the equations of the straight lines where the two target endpoints are located are calculated.

6. The method according to claim 4, characterized in that Determining the two target endpoints closest to the target vehicle and the second closest to the target vehicle from the target bounding box includes: The target bounding box is projected onto a two-dimensional coordinate system to obtain a target rectangular frame; wherein the y-axis in the two-dimensional coordinate system coincides with the perpendicular bisector of the line connecting the rear wheels of the target vehicle; and the positive direction of the y-axis points to the front direction of the target vehicle; The two target endpoints which are closest to the target vehicle and the second closest to the target vehicle are determined from the target rectangular frame.

7. The method according to claim 4, characterized in that Determining the target operating position according to the straight line equation and the width information of the target vehicle includes: Determine a plurality of candidate points and candidate coordinates corresponding to each of the candidate points according to the straight line equation and the width information of the target vehicle; A target operation position is determined according to the plurality of candidate points and the candidate coordinates corresponding to each of the candidate points.

8. The method according to claim 7, characterized in that The determining of the target operation position according to the plurality of candidate points and the candidate coordinates corresponding to each of the candidate points includes: Determine the absolute value of the y-axis coordinate corresponding to each candidate point according to the candidate coordinates corresponding to each candidate point; The minimum value among the absolute values ​​of the y-axis coordinates is taken as the safe working distance; Determine the vertical distance between the center of the rear wheel of the target vehicle and the rear of the vehicle; A target operating position is determined according to the safe operating distance, the vertical distance and a preset error.

9. The method according to claim 1, characterized in that: Determining the current position of the target vehicle includes: The current position of the rear wheel center of the target vehicle is used as the current position corresponding to the target vehicle.

10. The method according to claim 1, characterized in that The method further comprises: The updated path is uploaded to the cloud scheduling management platform, so that the cloud scheduling management platform updates the initial path corresponding to the updated path according to the updated path.

11. A path updating device, characterized in that: The device comprises: A determination module, for determining the current position of the target vehicle when it is detected that the target operation position corresponding to the target vehicle does not match the initial operation position; An updating module, used for performing path planning according to the current position and the target operation position to obtain an updated path; A control module is used to control the target vehicle to travel to the working position according to the updated path.

12. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 10 are implemented.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.

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