Unmanned vehicle path planning method and system based on Internet of Things

Abstract

The invention belongs to the technical field of path planning, and particularly relates to an unmanned vehicle path planning method and system based on the Internet of Things, and the method comprises the steps: determining all passable paths of a current monorail hoist; determining the passing difficulty of each path according to the length of each passable path, the gradient of each ramp on each path, the turning radius and turning angle of each curve on each path, the number of turnouts required to be wrenched when the current monorail hoist runs on each path and the number of air doors required to be opened; and according to the angle variation and the variation time of each air door, determining the influence degree of the current monorail hoist on the ventilation system when the monorail hoist operates on each path, and determining an optimal path by combining with the passing difficulty. According to the invention, the operation efficiency of the monorail hoist is improved, the operation cost is reduced, the influence on the mine ventilation stability is reduced on the premise of ensuring the safe passing of the monorail hoist, and the safety of the underground operation environment is improved.

Description

Technical Field

[0001] The present invention relates to the field of path planning technology. More specifically, the present invention relates to a method and system for unmanned vehicle path planning based on the Internet of Things. Background Art

[0002] With the continuous improvement of industrial automation, the monorail crane system has gradually developed from manual control to automation and intelligence. In the field of mining, unmanned monorail cranes have become an important equipment for efficient material transfer.

[0003] Traditional monorail crane path planning mainly relies on manual experience, and has problems such as low planning efficiency and low resource utilization. With the expansion of production scale and the improvement of process requirements, this planning method can no longer meet the needs of modern enterprises. In recent years, thanks to the development of emerging technologies such as artificial intelligence and machine learning, monorail crane path planning research has made significant progress. Relevant algorithms are constantly optimized, and planning accuracy and efficiency have been greatly improved.

[0004] However, most existing path planning algorithms only take the shortest path length as the optimization goal, and focus on solving the path conflict problem between multiple monorail cranes. They do not fully consider the difference in the operating costs of monorail cranes on different paths. At the same time, they lack a comprehensive assessment of the impact on the underground working environment and fail to take the potential impact of monorail crane operation on the underground ventilation system into consideration. This single-dimensional planning model may lead to safety hazards in the actual operation process and affect the overall safety of the underground working environment.

[0005] Therefore, it is urgent to establish a more comprehensive and systematic monorail crane path planning model, which comprehensively considers multi-dimensional factors such as operating costs and environmental impacts to ensure the safety and economy of underground operations. Summary of the invention

[0006] In order to solve the technical problem that the above-mentioned single-dimensional planning model may cause safety hazards in the actual operation of the monorail crane and affect the overall safety of the underground working environment, the present invention provides solutions in the following aspects.

[0007] In a first aspect, the present invention provides a path planning method for an unmanned vehicle based on the Internet of Things, comprising: Obstacles on the track path are identified by sensors, and all traversable paths are determined according to the obstacles, the departure point and destination of the current monorail crane; the difficulty of each path is determined according to the length of each traversable path, the slope of each ramp on each path, the turning radius and turning angle of each curve on each path, the number of switches that need to be switched when the current monorail crane is running on each path, and the number of dampers that need to be opened; the degree of influence of the current monorail crane on the ventilation system when the current monorail crane is running on each path is determined according to the angle change amount and change time of each damper that needs to be opened when the current monorail crane is running on each path; and the optimal path of the current monorail crane is determined according to the difficulty of passage and the degree of influence on the ventilation system.

[0008] The present invention conducts a quantitative analysis of the difficulty of each path based on a multi-dimensional parameter evaluation system. The evaluation indicators include key factors such as the total length of the path, the slope value of the ramp along the route, the turning radius and angle of the curve, the number of switches to be operated, and the number of dampers to be opened, so that the judgment result of the difficulty of passage is more accurate. The present invention analyzes the angle change and change duration of the dampers required to be opened when the monorail crane is running on each path, evaluates the degree of disturbance to the mine ventilation system, and selects the optimal path based on a comprehensive evaluation of the difficulty of passage and the degree of influence on the ventilation system. This not only improves the safety and efficiency of the monorail crane operation and reduces the operating cost of the monorail crane, but also minimizes the negative impact of the monorail crane operation on the mine ventilation system, thereby achieving coordinated optimization of transportation and ventilation.

[0009] Preferably, the determination of the difficulty of each path includes: taking any passable path as the target path; taking the normalized result of the length of the target path as the length cost of the target path; determining the slope cost of the target path according to the slope of each ramp on the target path; determining the curve cost of the target path according to the turning radius and turning angle of each curve on the target path; taking the normalized result of the sum of the number of switches that need to be turned and the number of dampers that need to be opened when the current monorail crane runs on the target path as the mechanical cost of the target path; and taking the weighted average of the length cost, ramp cost, curve cost and mechanical cost of the target path as the difficulty of the target path.

[0010] Preferably, determining the ramp cost of the target path according to the slope of each ramp on the target path includes: Set a point at meters. For each point in the target path, obtain the height difference between the previous point and the next point of the point, which is recorded as ,Will As the slope of the point, is the inverse tangent function, is a preset interval; the target path is divided into multiple sections, the slopes of all points in each section are the same, and the slopes of points between two adjacent sections are different; the slope of the point in each section is used as the slope of the section; the ramp cost of the target path is determined according to the slope and length of each section.

[0011] The present invention divides the target path into several sections with the same slope and ensures that the slopes of adjacent sections are different, thereby achieving an accurate description of complex terrain and providing an accurate data basis for subsequent slope cost calculation.

[0012] Preferably, the ramp cost satisfies the expression: ; In the formula, represents the ramp cost of the target path; Indicates the length of the target path; Indicates the target path The slope of the section; Indicates the target path The length of the segment; Indicates the number of segments in the target path.

[0013] Preferably, the ramp cost satisfies the expression: ; In the formula, represents the ramp cost of the target path; Indicates the length of the target path; Indicates the target path The slope of the section; Indicates the target path The length of the segment; Indicates the number of segments of the target path; Indicates the current carrying capacity of the monorail crane; Indicates the maximum carrying capacity of the current monorail crane; Represents the maximum value function.

[0014] When the load is larger, climbing requires a stronger or higher power system to provide sufficient traction, and the downhill braking system needs to provide greater braking force to control the speed to prevent loss of control. The present invention fully considers the monorail crane's needs for downhill braking and uphill power under different loads, and the resulting ramp cost is more accurate. It provides reliable technical support for the safe operation and cost control of the monorail crane.

[0015] Preferably, the curve cost satisfies the expression: ; In the formula, is the curve cost of the target path, Indicates the number of bends in the target path; Indicates the target path The turning radius of the curve; It represents the maximum value of the turning radius of all curves in all navigable paths; Indicates the target path The turning angle of the curve; Represents an exponential function with a natural constant as its base.

[0016] Preferably, the curve cost satisfies the expression: ; In the formula, is the curve cost of the target path, Indicates the number of bends in the target path; Indicates the target path The turning radius of the curve; It represents the maximum value of the turning radius of all curves in all navigable paths; Indicates the target path The turning angle of the curve; represents an exponential function with a natural constant as base; Indicates the current carrying capacity of the monorail crane. Indicates the maximum carrying capacity of the current monorail crane; Represents the maximum value function.

[0017] When turning, the centrifugal force generated by a monorail crane with a larger carrying capacity is more significant. The larger the cargo carrying capacity, the stronger the centrifugal force when the monorail crane turns, resulting in an increased risk of vehicle rollover. The present invention fully considers the difficulty of turning a monorail crane under different carrying capacities, so that the obtained curve cost is more accurate.

[0018] Preferably, the degree of influence on the ventilation system satisfies the expression: ; In the formula, Indicates the degree of influence of the current monorail crane on the ventilation system when it is running on the target path; , They represent the first The angle change of the first door and the angle change of the second door in the duct door; Indicates the first The time of change of Daofeng Gate; Indicates the number of dampers that need to be opened when the current monorail crane runs on the target path.

[0019] Preferably, the determining of the optimal path of the current monorail crane according to the difficulty of passage and the degree of influence on the ventilation system includes: determining the passage advantage of the target path : , Indicates the difficulty of the target path; Indicates the degree of influence of the current monorail crane on the ventilation system when it is running on the target path; It represents an exponential function with a natural constant as the base; the path with the greatest traffic advantage is taken as the optimal path of the current monorail crane.

[0020] The present invention determines the optimal path of the current monorail crane according to the traffic advantage, which can significantly improve the operating efficiency of the monorail crane and reduce energy consumption costs. At the same time, it also minimizes the negative impact of the monorail crane operation on the mine ventilation system, realizes the coordinated optimization of transportation and ventilation, and effectively ensures the safety and reliability of the underground working environment.

[0021] In a second aspect, the present invention provides an unmanned vehicle path planning system based on the Internet of Things, comprising a processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the above-mentioned unmanned vehicle path planning method based on the Internet of Things is implemented.

[0022] By adopting the above technical solution, the above-mentioned unmanned vehicle path planning method based on the Internet of Things is generated into a computer program and stored in a memory to be loaded and executed by a processor, so that a terminal device is made according to the memory and the processor for easy use.

[0023] The beneficial effects of the present invention are: The present invention conducts a quantitative analysis of the difficulty of each path based on a multi-dimensional parameter evaluation system. The evaluation indicators include key factors such as the total length of the path, the slope value of the ramp along the route, the turning radius and angle of the curve, the number of switches to be operated, and the number of dampers to be opened, so that the judgment result of the difficulty of passage is more accurate. The present invention analyzes the angle change and change duration of the dampers required to be opened when the monorail crane runs on each path, evaluates the degree of disturbance to the mine ventilation system, and selects the optimal path based on a comprehensive evaluation of the difficulty of passage and the degree of influence on the ventilation system. This can not only improve the safety and efficiency of the monorail crane operation and reduce the operating cost of the monorail crane, but also minimize the negative impact of the monorail crane operation on the mine ventilation system, realize the coordinated optimization of transportation and ventilation, and effectively ensure the safety and reliability of the underground working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a flow chart schematically illustrating a method for path planning of an unmanned vehicle based on the Internet of Things in the present invention; Figure 2 It is a flow chart schematically showing step S2 of a method for path planning of an unmanned vehicle based on the Internet of Things in the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0026] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0027] The embodiment of the present invention discloses a method for unmanned vehicle path planning based on the Internet of Things, referring to Figure 1 , comprising steps S1 to S4: S1. Use sensors to identify obstacles on the track path, and determine all accessible paths based on the obstacles, the current departure point and destination of the monorail crane.

[0028] Specifically, all paths from the departure point to the destination are obtained according to the departure point and destination of the current monorail crane, obstacle detection and path conflict prediction are performed on each obtained path, and paths without obstacles and path conflicts are regarded as passable paths.

[0029] The obstacle detection is specifically: sensing obstacles on the path through sensors such as lidar or millimeter wave radar. The obstacles include stationary objects on the path, such as large ore left on the path, but do not include moving objects on the path, such as other monorail cranes already running on the track.

[0030] The path conflict prediction is specifically as follows: if there are no other monorail cranes running on the path, there is no path conflict; conversely, if there are other monorail cranes running on the path, the path overlap between the other monorail cranes and the current monorail crane is predicted based on the running paths and speeds of the other monorail cranes, and it is determined whether there is a risk of time-space conflict between the other monorail cranes and the current monorail crane. If there is a risk of time-space conflict, it is considered that there is a path conflict.

[0031] S2. Determine the difficulty of each path based on the length of each passable path, the slope of each ramp on each path, the turning radius and turning angle of each curve on each path, the number of switches that need to be turned when the current monorail crane is running on each path, and the number of dampers that need to be opened.

[0032] It should be noted that different paths have different road conditions, and the current monorail crane has different costs and different difficulty levels in running on different paths. The present invention analyzes the difficulty of the paths that can be passed from the perspectives of length cost, ramp cost, curve cost, and mechanical cost.

[0033] Specifically, the flowchart of step S2 refers to Figure 2 , including steps S201 to S205: S201. Taking any passable path as a target path, and taking a normalized result of the length of the target path as a length cost of the target path.

[0034] Specifically, the length cost of the target path satisfies the expression: ; in, represents the length cost of the target path, Indicates the length of the target path, It represents the length of the longest path among all passable paths, and is used to normalize the length of the target path. The implementer can choose the normalization method according to the actual implementation situation. The longer the length of the target path, the greater the length cost of the target path, and the greater the difficulty of passing the target path.

[0035] S202: Determine the ramp cost of the target path according to the slope of each ramp on the target path.

[0036] It should be noted that for a monorail crane, its traversable path may involve climbing or descending a slope. When traveling on a slope, the system needs to have stronger power performance and braking performance to ensure transportation safety. Specifically, when the monorail crane is in an uphill condition, its power system needs to output a larger traction power to overcome the gravity component and maintain a stable transportation speed; while in a downhill condition, the braking system needs to provide sufficient braking torque to effectively control the vehicle speed and prevent the risk of loss of control due to the acceleration of gravity. Therefore, the steeper the slope, the greater the power output and braking torque required, and the higher the corresponding slope driving cost. The present invention determines the ramp cost of the target path according to the slope of the ramp in the target path.

[0037] Specifically, the interval on the target path Meters set a point, for each point in the target path, get the height difference between the previous point and the next point of the point, recorded as ,Will As the slope of the point, is the inverse tangent function, It is a preset interval, which can be set by the implementer according to the actual implementation situation, for example rice.

[0038] The target path is divided into multiple segments. The slopes of all points in each segment are required to be the same, and the slopes of points between two adjacent segments are different. The slope of the point in each segment is taken as the slope of the segment.

[0039] In one embodiment, the ramp cost of the target path satisfies the expression: ; in, represents the ramp cost of the target path; Indicates the length of the target path; Indicates the target path The slope of the section; Indicates the target path The length of the segment; Indicates the number of segments of the target path; the greater the slope of each segment in the target path, the greater the slope cost of the target path.

[0040] In another embodiment, the ramp cost of the target path satisfies the expression: ; in, represents the ramp cost of the target path; Indicates the length of the target path; Indicates the target path The slope of the section; Indicates the target path The length of the segment; Indicates the number of segments of the target path; Indicates the current carrying capacity of the monorail crane. In the present invention, the carrying capacity is the weight of the cargo currently carried by the monorail crane; Indicates the maximum carrying capacity of the current monorail crane. In the present invention, the maximum carrying capacity is the maximum weight that the current monorail crane can carry; represents the maximum value function, For screening with a maximum value of 0.001, preventing hour, , , resulting in a ramp cost Always 1.

[0041] When the monorail crane carries more, it needs a stronger or higher power system to climb the slope to provide sufficient traction, and the downhill braking system needs to provide greater braking force to control the speed to prevent loss of control. Therefore, the same slope has a greater impact on the monorail crane with a larger load, and a smaller impact on the monorail crane with a smaller load. As The index of To expand the current monorail capacity The larger the index The smaller, the The greater the expansion of the target path, the greater the ramp cost; conversely, the current monorail crane capacity The smaller the time, the index The bigger, yes The smaller the expansion, the closer the ramp cost of the target path is to .

[0042] S203: Determine the curve cost of the target path according to the turning radius and turning angle of each curve on the target path.

[0043] It should be noted that, for a monorail crane, its passable path may involve curves. When traveling on a curve, the monorail crane will be affected by centrifugal force, the magnitude of which is closely related to the turning radius and the turning angle. According to the principle of mechanics, the centrifugal force is inversely proportional to the turning radius, that is, the smaller the turning radius, the greater the centrifugal force generated. At the same time, the centrifugal force is directly proportional to the turning angle, and the larger the turning angle, the greater the corresponding centrifugal force. These mechanical characteristics directly affect the operational stability of the monorail crane. When the centrifugal force exceeds a certain threshold, the monorail crane will be caused to tilt, and in severe cases, a rollover accident may be caused. Therefore, the present invention fully considers the impact of the turning radius and the turning angle on the operational safety of the monorail crane, and determines the curve cost of the target path according to the maximum turning radius and the turning angle of the curve in the target path.

[0044] In one embodiment, the curve cost of the target path satisfies the expression: ; in, is the curve cost of the target path, Indicates the number of bends in the target path; Indicates the target path The turning radius of the curve; Indicates the maximum value of the turning radius of all curves in all navigable paths, used for Perform normalization; Indicates the target path The turning angle of the curve; It represents an exponential function with a natural constant as the base. When the maximum turning radius is larger and the turning angle is smaller, the eccentricity of the vehicle turning is lower, the probability of rollover is smaller, and the curve cost of the target path is smaller.

[0045] In another embodiment, the curve cost of the target path satisfies the expression: ; in, is the curve cost of the target path, Indicates the number of bends in the target path; Indicates the target path The maximum turning radius of a curve; Indicates the maximum value of the turning radius of all curves in all navigable paths, used for Perform normalization; Indicates the target path The turning angle of the curve; represents an exponential function with a natural constant as base; Indicates the current carrying capacity of the monorail crane. In the present invention, the carrying capacity is the weight of the cargo currently carried by the monorail crane; Indicates the maximum carrying capacity of the current monorail crane. In the present invention, the maximum carrying capacity is the maximum weight that the current monorail crane can carry; represents the maximum value function, For screening with a maximum value of 0.001, preventing hour, , , resulting in a corner cost Always 1.

[0046] During the turning process, the centrifugal force generated by the heavier monorail crane is more significant. The greater the amount of cargo carried, the stronger the centrifugal force when the monorail crane turns, resulting in an increased risk of vehicle rollover. Therefore, the same turning radius and the same turning angle will have a greater impact on the monorail crane with a larger load, and a smaller impact on the monorail crane with a smaller load. Therefore, this embodiment will As The index of To expand the current monorail capacity The larger the index The smaller, the The greater the expansion of , the greater the cost of the curve of the target path; conversely, the current monorail crane capacity The smaller the time, the index The bigger, yes The smaller the expansion, the closer the corner cost of the target path is to .

[0047] S204: The normalized result of the sum of the number of switches that need to be moved and the number of dampers that need to be opened when the current monorail crane is running on the target path is used as the mechanical cost of the target path.

[0048] It should be noted that during the operation of the monorail crane, the switches and damper systems installed on its passage path need to be operated synchronously. Specifically, when the crane passes through a specific section, the relevant switches need to be switched, and the corresponding damper devices must be opened in time to ensure smooth passage. However, frequent switch switching and damper opening and closing operations will inevitably lead to an increase in the load on mechanical components, which may affect the overall service life of the equipment. Therefore, the present invention determines the mechanical cost of the target path based on the number of switches that need to be switched and the number of dampers that need to be opened when the current monorail crane is running on the target path.

[0049] Specifically, the mechanical cost of the target path satisfies the expression: ; in, is the mechanical cost of the target path, Indicates the number of switches that need to be moved when the monorail crane is running on the target path. Indicates the number of dampers that need to be opened when the current monorail crane is running on the target path; represents the hyperbolic tangent function, which is used to Normalization is performed, and implementers can choose the normalization method based on the actual implementation situation.

[0050] S205: Taking the weighted average of the length cost, ramp cost, curve cost and mechanical cost of the target path as the travel difficulty of the target path.

[0051] In one embodiment, the difficulty of the target path satisfies the expression: ; in, Indicates the difficulty of the target path; Represents the length cost of the target path; represents the ramp cost of the target path; is the curve cost of the target path; is the mechanical cost of the target path.

[0052] In another embodiment, the difficulty of the target path satisfies the expression: ; in, Indicates the difficulty of the target path; Represents the length cost of the target path; represents the ramp cost of the target path; is the curve cost of the target path; is the mechanical cost of the target path; is the weight of the length cost, is the weight of the ramp cost, is the weight of the curve cost, is the weight of the mechanical cost. , , , It is set by the implementers according to the actual implementation situation. It should be noted that , , , The sum of needs to be equal to 1, for example , , , The greater the weight of a certain cost, the more attention is paid to the cost during path planning.

[0053] Similarly, obtain the difficulty of all navigable paths.

[0054] S3. Determine the degree of influence of the current monorail crane on the ventilation system when it is running on each path according to the angle change amount and change time of each damper that needs to be opened when the current monorail crane is running on each path.

[0055] It should be noted that the damper is a key mechanical device in the mine ventilation system, and its main function is to regulate and control the air volume and airflow distribution in the mine tunnel. The opening state of the damper is directly related to the normal operation of the ventilation system. Under normal circumstances, the damper remains closed or opens at a certain angle. When the monorail crane passes, the damper needs to be opened in linkage to ensure its safe passage, which may cause the damper state to change. The greater the change in the damper opening angle, the greater the disturbance to the air volume distribution and airflow distribution in the mine tunnel, which will cause a sudden change in local wind resistance, break the equilibrium state of the original ventilation network, and cause wind flow redistribution. Secondly, the longer the damper state changes, the more likely it is that the wind flow will short-circuit, reduce ventilation efficiency, and affect the fresh air supply of each working surface underground. More seriously, this change in ventilation state may cause harmful gas accumulation, threatening the life safety of underground workers. Therefore, the present invention determines the degree of influence of the current monorail crane on the ventilation system when the target path is running according to the angle change amount and change time of the damper that the current monorail crane needs to be opened in linkage when the target path is running.

[0056] Specifically, the degree of influence of the current monorail crane on the ventilation system when running on the target path satisfies the expression: ; in, Indicates the degree of influence of the current monorail crane on the ventilation system when it is running on the target path; Indicates the first The angle change of the first door in the duct door; Indicates the first The angle change of the second leaf in the duct door; Indicates the first The time of change of Daofeng Gate; Indicates the number of dampers that need to be opened when the current monorail crane runs on the target path.

[0057] The damper consists of two doors, and the maximum opening angle of each door is generally , so that the maximum angle change of each door in the damper is Therefore, the present invention utilizes Angle change of two doors The implementation personnel can adjust the normalization according to the actual implementation situation. The greater the change in the angle of each door in the air door that needs to be opened, the longer the change time, the greater the disturbance to the air volume distribution and airflow distribution in the mine tunnel, and the degree of influence of the current monorail crane on the ventilation system when running on the target path. It should be noted that the change time in the present invention The unit is minutes, and implementers can adjust it according to actual implementation conditions.

[0058] Similarly, the influence of the current monorail crane on the ventilation system when running on each path is obtained.

[0059] S4. Determine the optimal path of the current monorail crane according to the difficulty of each path and the influence of the current monorail crane on the ventilation system when running on each path.

[0060] It should be noted that when the difficulty of the target path is smaller and the current monorail crane has a greater impact on the ventilation system when running on the target path, the efficiency of the current monorail crane running on the target path is lower, the cost is higher, and the safety is worse. Therefore, the present invention determines the traffic advantage of each path according to the difficulty of each path and the impact of the current monorail crane on the ventilation system when running on each path.

[0061] Specifically, the traffic advantage of the target path satisfies the expression: ; In the formula, represents the travel advantage of the target path, Indicates the difficulty of the target path; Indicates the degree of influence of the current monorail crane on the ventilation system when it is running on the target path; Represents an exponential function with a natural constant as the base. The bigger the The smaller the difficulty of passage The more hours, If the current monorail crane is running on the target path, the degree of impact on the ventilation system The smaller, The closer it is to 1, the more the passage advantage depends on the passage difficulty , when the difficulty of passing The larger the value, the smaller the passage advantage. The smaller the value, the greater the traffic advantage. If the current monorail crane is running on the target path, the degree of impact on the ventilation system The bigger, The bigger, yes The greater the reduction of , the smaller the travel advantage of the target path.

[0062] Similarly, the traffic advantages of all traversable paths are obtained, and the path with the greatest traffic advantage is taken as the optimal path for the current monorail crane.

[0063] It should be noted that the present invention determines the optimal path of the current monorail crane according to the traffic advantage, which can improve the operating efficiency of the monorail crane and reduce the operating cost. Under the premise of ensuring the safe passage of the monorail crane, the damper opening time is shortened as much as possible, thereby minimizing the impact on the ventilation stability of the mine and ensuring the safety and reliability of the underground working environment.

[0064] An embodiment of the present invention also discloses an unmanned vehicle path planning system based on the Internet of Things, including a processor and a memory, wherein the memory stores computer program instructions. When the computer program instructions are executed by the processor, an unmanned vehicle path planning method based on the Internet of Things according to the present invention is implemented.

[0065] The above system also includes other components well known to those skilled in the art, such as a communication bus and a communication interface, and their configuration and functions are known in the art, so they will not be described in detail here.

Claims

1. A method for unmanned vehicle path planning based on the Internet of Things, characterized in that: include: Using sensors to identify obstacles on the track path, all possible paths are determined based on the obstacles, the current monorail crane's departure point and destination; The difficulty of each path is determined based on the length of each passable path, the slope of each ramp on each path, the turning radius and turning angle of each curve on each path, the number of switches that need to be turned when the current monorail crane runs on each path, and the number of dampers that need to be opened; According to the angle change amount and change time of each damper that needs to be opened when the current monorail crane is running on each path, determine the impact of the current monorail crane on the ventilation system when running on each path; The optimal path of the current monorail crane is determined according to the difficulty of passage and the degree of impact on the ventilation system.

2. The method for path planning of an unmanned vehicle based on the Internet of Things according to claim 1, characterized in that: Determining the difficulty of each path includes: Take any passable path as the target path; take the normalized result of the length of the target path as the length cost of the target path; determine the slope cost of the target path according to the slope of each ramp on the target path; determine the curve cost of the target path according to the turning radius and turning angle of each curve on the target path; take the normalized result of the sum of the number of switches that need to be turned and the number of dampers that need to be opened when the current monorail crane runs on the target path as the mechanical cost of the target path; The weighted average of the length cost, slope cost, curve cost and mechanical cost of the target path is taken as the travel difficulty of the target path.

3. The method for path planning of an unmanned vehicle based on the Internet of Things according to claim 2, characterized in that: The step of determining the ramp cost of the target path according to the slope of each ramp on the target path includes: Interval on target path Meters set a point, for each point in the target path, get the height difference between the previous point and the next point of the point, recorded as ,Will As the slope of the point, is the inverse tangent function, is a preset interval; the target path is divided into multiple sections, the slopes of all points in each section are the same, and the slopes of points between two adjacent sections are different; the slope of the point in each section is used as the slope of the section; the ramp cost of the target path is determined according to the slope and length of each section.

4. The method for path planning of an unmanned vehicle based on the Internet of Things according to claim 3 is characterized in that: The ramp cost satisfies the expression: ； In the formula, represents the ramp cost of the target path; Indicates the length of the target path; Indicates the target path The slope of the section; Indicates the target path The length of the segment; Indicates the number of segments in the target path.

5. The method for path planning of an unmanned vehicle based on the Internet of Things according to claim 3 is characterized in that: The ramp cost satisfies the expression: ； In the formula, represents the ramp cost of the target path; Indicates the length of the target path; Indicates the target path The slope of the section; Indicates the target path The length of the segment; Indicates the number of segments of the target path; Indicates the current carrying capacity of the monorail crane; Indicates the maximum carrying capacity of the current monorail crane; Represents the maximum value function.

6. The method for path planning of an unmanned vehicle based on the Internet of Things according to claim 2, characterized in that: The curve cost satisfies the expression: ； In the formula, is the curve cost of the target path, Indicates the number of bends in the target path; Indicates the target path The turning radius of the curve; It represents the maximum value of the turning radius of all curves in all navigable paths; Indicates the target path The turning angle of the curve; Represents an exponential function with a natural constant as its base.

7. The method for path planning of an unmanned vehicle based on the Internet of Things according to claim 2, characterized in that: The curve cost satisfies the expression: ； In the formula, is the curve cost of the target path, Indicates the number of bends in the target path; Indicates the target path The turning radius of the curve; It represents the maximum value of the turning radius of all curves in all navigable paths; Indicates the target path The turning angle of the curve; represents an exponential function with a natural constant as base; Indicates the current carrying capacity of the monorail crane. Indicates the maximum carrying capacity of the current monorail crane; Represents the maximum value function.

8. The method for path planning of an unmanned vehicle based on the Internet of Things according to claim 1, characterized in that: The degree of influence on the ventilation system satisfies the expression: ； In the formula, Indicates the degree of influence of the current monorail crane on the ventilation system when it is running on the target path; , They represent the first The angle change of the first door and the angle change of the second door in the duct door; Indicates the first The time of change of Daofeng Gate; Indicates the number of dampers that need to be opened when the current monorail crane runs on the target path.

9. A method for path planning of an unmanned vehicle based on the Internet of Things according to any one of claims 1 to 7, characterized in that: The determining the optimal path of the current monorail crane according to the difficulty of passage and the degree of influence on the ventilation system includes: Determine the traffic advantage of the target path : , Indicates the difficulty of the target path; Indicates the degree of influence of the current monorail crane on the ventilation system when it is running on the target path; represents an exponential function with a natural constant as base; The path with the greatest traffic advantage is taken as the optimal path for the current monorail crane.

10. An unmanned vehicle path planning system based on the Internet of Things, characterized in that: include: A processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, an unmanned vehicle path planning method based on the Internet of Things is implemented according to any one of claims 1 to 9.

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