An Internet of Things-based path planning method and system for driverless vehicles

Abstract

The present invention belongs to the technical field of path planning, and particularly relates to a path planning method and system for driverless vehicles based on the Internet of Things. The method includes: determining all passable paths of the current single-track crane; determining the passing difficulty of each path according to the length of each passable path, the slope of each ramp on each path, the turning radius and turning angle of each bend on each path, the number of turnouts that need to be switched when the current single-track crane runs on each path, and the number of air doors that need to be opened; determining the influence degree of the current single-track crane on the ventilation system when running on each path according to the angle change amount and change time of each air door, and combining the passing difficulty to determine the optimal path. In the present invention, the operation efficiency of the single-track crane is improved, the operation cost is reduced, the influence on the stability of mine ventilation is reduced on the premise of ensuring the safe passage of the single-track crane, and the safety of the underground operation environment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of path planning. More specifically, the present invention relates to a method and system for path planning of driverless vehicles 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 operation to automation and intelligence. In the field of mine exploitation, driverless monorail cranes have become an important equipment for realizing efficient material transfer.

[0003] Traditional path planning of monorail cranes mainly relies on manual experience, with problems such as low planning efficiency and low resource utilization rate. With the expansion of production scale and the improvement of process requirements, this planning method has been difficult to meet the needs of modern enterprises. In recent years, thanks to the development of emerging technologies such as artificial intelligence and machine learning, significant progress has been made in the research on monorail crane path planning. Relevant algorithms have been continuously optimized, and the planning accuracy and efficiency have been greatly improved.

[0004] However, most of the 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 operating costs of monorail cranes on different paths, and at the same time lack a comprehensive assessment of the impact of the underground operation environment, and fail to incorporate the potential impact of the operation of monorail cranes on the underground ventilation system into the planning consideration. This single-dimensional planning mode may lead to potential safety hazards in the actual operation process, affecting the overall safety of the underground operation environment.

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

[0006] To solve the technical problem that the above single-dimensional planning mode may lead to potential safety hazards in the actual operation process of monorail cranes, affecting the overall safety of the underground operation environment, the present invention provides solutions in the following aspects.

[0007] In a first aspect, the present invention provides a method for path planning of driverless vehicles based on the Internet of Things, including:

[0008] The sensor is used to identify obstacles on the track path, and all passable paths are determined according to the obstacles, the departure place and the destination of the current single-rail crane; according to the lengths of the passable paths, the gradients of the slopes on each path, the turning radii and turning angles of the curves on each path, the number of turnouts that need to be switched when the current single-rail crane runs on each path, and the number of air doors that need to be opened, the passing difficulty of each path is determined; according to the angle change amount and change time of each air door that needs to be opened when the current single-rail crane runs on each path, the influence degree of the current single-rail crane on the ventilation system when running on each path is determined; according to the passing difficulty and the influence degree on the ventilation system, the optimal path of the current single-rail crane is determined.

[0009] The present invention conducts a quantitative analysis on the passing 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 gradient value of the slope along the line, the turning radius and angle of the curve, the number of turnouts that need to be operated, and the number of air doors that need to be opened. The judgment result of the passing difficulty is more accurate; the present invention analyzes the angle change amount and change duration of the air doors that need to be opened when the single-rail crane runs on each path, evaluates the disturbance degree of the single-rail crane on the mine ventilation system, and based on the comprehensive evaluation of the passing difficulty and the influence degree on the ventilation system, the optimal path is screened. This not only improves the safety and efficiency of the single-rail crane operation, reduces the operation cost of the single-rail crane, but also minimizes the negative impact of the single-rail crane operation on the mine ventilation system, realizing the coordinated optimization of transportation and ventilation.

[0010] Preferably, determining the passing difficulty of each path includes: taking any passable path as the target path; taking the normalization 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 slopes of the slopes on the target path; determining the curve cost of the target path according to the turning radius and turning angle of the curves on the target path; taking the normalization result of the sum of the number of turnouts that need to be switched and the number of air doors that need to be opened when the current single-rail crane runs on the target path as the mechanical cost of the target path; taking the weighted average of the length cost, slope cost, curve cost and mechanical cost of the target path as the passing difficulty of the target path.

[0011] Preferably, determining the slope cost of the target path according to the slopes of the slopes on the target path includes: setting a point every meters on the target path. For each point on the target path, obtaining the height difference between the previous point and the next point of the point, denoted as , and taking as the slope of the point, where is the arctangent function, is a preset interval; the target path is divided into multiple segments, the slopes of all points in each segment are the same, and the slopes of points between adjacent segments are different; the slope of the points in each segment is used as the slope of that segment; according to the slopes of each segment and the lengths of each segment, the ramp cost of the target path is determined.

[0012] The present invention divides the target path into several paragraphs with the same slope and ensures that the slopes of adjacent paragraphs are different, realizing an accurate description of complex terrain and providing an accurate data basis for subsequent ramp cost calculation.

[0013] Preferably, the ramp cost satisfies the expression: ; in the formula, represents the ramp cost of the target path; represents the length of the target path; represents the th segment of the target path; represents the th segment of the target path; represents the number of segments of the target path.

[0014] Preferably, the ramp cost satisfies the expression: ; in the formula, represents the ramp cost of the target path; represents the length of the target path; represents the th segment of the target path; represents the th segment of the target path; represents the number of segments of the target path; represents the carrying capacity of the current monorail crane; represents the maximum carrying capacity of the current monorail crane; represents the maximum value function.

[0015] When carrying more, climbing requires a stronger or higher-power power system to provide sufficient traction, and the downhill braking system needs to provide greater braking force to control the speed to prevent out-of-control. The present invention fully considers the requirements of the monorail crane for downhill braking and uphill power under different carrying capacities, and the obtained ramp cost is more accurate. It provides reliable technical support for the safe operation and cost control of the monorail crane.

[0016] Preferably, the curve cost satisfies the expression: ; in the formula, is the curve cost of the target path, represents the number of curves of the target path; represents the th curve's turning radius of the target path; represents the maximum value of the turning radii of all bends in all passable paths; represents the turning angle of the th bend of the target path;

[0017] Preferably, the bend cost satisfies the expression:

[0018] ; where is the bend cost of the target path, represents the number of bends in the target path; represents the turning radius of the th bend of the target path; represents the turning angle of the th bend of the target path; represents the carrying capacity of the current monorail crane, represents the maximum carrying capacity of the current monorail crane; represents the maximum value function.

[0019] When turning, the centrifugal force generated by a monorail crane with a larger carrying capacity is more significant. The larger the amount of goods carried, 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 of the monorail crane under different carrying capacities, making the obtained bend cost more accurate.

[0020] Preferably, the degree of influence on the ventilation system satisfies the expression: ; where represents the degree of influence of the current monorail crane on the ventilation system when operating on the target path; , respectively represent the angle change amount of the first door and the angle change amount of the second door in the th air door that needs to be opened when the current monorail crane operates on the target path; represents the change time of the th air door that needs to be opened when the current monorail crane operates on the target path; represents the number of air doors that need to be opened when the current monorail crane operates on the target path.

[0021] Preferably, determining the optimal path of the current monorail crane according to the passing difficulty and the degree of influence on the ventilation system includes: determining the passing advantage of the target path : , Indicates the traffic difficulty of the target path; Indicates the degree of influence of the current single-track crane on the ventilation system when operating on the target path; Indicates the exponential function with the natural constant as the base; The path with the greatest traffic advantage is taken as the optimal path of the current single-track crane.

[0022] The present invention determines the optimal path of the current single-track crane according to the traffic advantage, which can significantly improve the operation efficiency of the single-track crane, reduce the energy consumption cost, and at the same time minimize the negative impact of the operation of the single-track crane on the mine ventilation system, realizing the collaborative optimization of transportation and ventilation, and effectively ensuring the safety and reliability of the underground operation environment.

[0023] In a second aspect, the present invention provides an Internet of Things-based unmanned vehicle path planning system, including a processor and a memory. The memory stores computer program instructions, and when the computer program instructions are executed by the processor, the above-mentioned Internet of Things-based unmanned vehicle path planning method is implemented.

[0024] By adopting the above technical solution, the above-mentioned Internet of Things-based unmanned vehicle path planning method is generated into a computer program and stored in the memory to be loaded and executed by the processor, so as to manufacture a terminal device according to the memory and the processor, which is convenient to use.

[0025] The beneficial effects of the present invention are as follows:

[0026] The present invention quantitatively analyzes the traffic 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 line, the turning radius and angle of the curve, the number of turnouts to be operated, and the number of air doors to be opened. The judgment result of the traffic difficulty is more accurate; The present invention evaluates the disturbance degree of the mine ventilation system by analyzing the angle change amount and change duration of the air doors to be opened when the single-track crane operates on each path. Based on the comprehensive evaluation of the traffic difficulty and the influence degree on the ventilation system, the optimal path is selected, which can not only improve the safety and efficiency of the single-track crane operation, reduce the operation cost of the single-track crane, but also minimize the negative impact of the operation of the single-track crane on the mine ventilation system, realizing the collaborative optimization of transportation and ventilation, and effectively ensuring the safety and reliability of the underground operation environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Is a flowchart schematically showing an Internet of Things-based unmanned vehicle path planning method in the present invention;

[0028] Figure 2 Is a flowchart schematically showing step S2 of an Internet of Things-based unmanned vehicle path planning method in the present invention. Specific Embodiments

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention.

[0030] Next, the specific embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0031] An embodiment of the present invention discloses a path planning method for a driverless vehicle based on the Internet of Things. Referring to Figure 1 , it includes steps S1 - S4:

[0032] S1. Use sensors to identify obstacles on the track path, and determine all passable paths according to the obstacles, the departure place and the destination of the current monorail crane.

[0033] Specifically, according to the departure place and the destination of the current monorail crane, obtain all paths from the departure place to the destination. Perform obstacle detection and path conflict prediction on each obtained path, and use the paths without obstacles and without path conflicts as passable paths.

[0034] The obstacle detection is specifically as follows: Use sensors such as lidar or millimeter-wave radar to sense obstacles on the path. The obstacles include stationary objects on the path, such as large ore left on the path, etc., and do not include moving objects on the path, such as other monorail cranes already running on the track, etc.

[0035] The path conflict prediction is specifically as follows: If there are no other running monorail cranes on the path, there is no path conflict; conversely, if there are other running monorail cranes on the path, predict the path overlap situation between other monorail cranes and the current monorail crane according to the running paths and speeds of other monorail cranes, and determine whether there is a risk of spatio-temporal conflict between other monorail cranes and the current monorail crane. If there is a risk of spatio-temporal conflict, it is considered that there is a path conflict.

[0036] S2. Determine the passing difficulty of each path according to the lengths of the passable paths, the slopes of each ramp on each path, the turning radii and turning angles of each bend on each path, the number of switches that need to be toggled when the current monorail crane runs on each path, and the number of air doors that need to be opened.

[0037] It should be noted that the road conditions of different paths are different, and the costs of the current monorail crane running in different paths are different, and the passing difficulties are different. The present invention analyzes the passing difficulty of the passable paths from the perspectives of length cost, ramp cost, curve cost, and mechanical cost.

[0038] Specifically, the flowchart of step S2 is referred to Figure 2 , including steps S201 to S205:

[0039] S201. Take any passable path as the target path, and take the normalization result of the length of the target path as the length cost of the target path.

[0040] Specifically, the length cost of the target path satisfies the expression:

[0041] ;

[0042] Among them, represents the length cost of the target path, represents the length of the target path, represents the length of the longest path among all passable paths, which is used to normalize the length of the target path. The implementer can select the normalization method according to the actual implementation situation. When the length of the target path is longer, the length cost of the target path is greater, and the passing difficulty of the target path is greater.

[0043] S202. Determine the ramp cost of the target path according to the slopes of the ramps on the target path.

[0044] It should be noted that for the monorail crane, the passable paths it may involve climbing or descending. When driving on a ramp, the system needs to have stronger power performance and braking performance to ensure transportation safety. Specifically, when the monorail crane is in the uphill working condition, its power system needs to output a greater traction power to overcome the gravity component and maintain a stable transportation speed; while in the downhill working condition, the braking system needs to provide sufficient braking torque to effectively control the vehicle speed and prevent the risk of out-of-control caused by the action of gravitational acceleration. Therefore, the steeper the slope, the greater the required power output and braking torque, and the higher the corresponding ramp driving cost. The present invention determines the ramp cost of the target path according to the slopes of the ramps in the target path.

[0045] Specifically, set a point every meters on the target path. For each point on the target path, obtain the height difference between the previous point and the next point of this point, denoted as , and take as the slope of this point, where is the arctangent function, is a preset interval, which can be set by the implementer according to the actual implementation situation. For example meter.

[0046] Divide the target path into multiple segments, requiring that the slopes of all points in each segment are the same, and the slopes of points between adjacent segments are different. The slope of the points in each segment is used as the slope of that segment.

[0047] In one embodiment, the ramp cost of the target path satisfies the expression:

[0048] ;

[0049] where represents the ramp cost of the target path; represents the length of the target path; represents the th segment of the target path; represents the th segment of the target path; represents the number of segments of the target path; when the slopes of each segment in the target path are larger, the ramp cost of the target path is larger.

[0050] In another embodiment, the ramp cost of the target path satisfies the expression:

[0051] ;

[0052] where represents the ramp cost of the target path; represents the length of the target path; represents the th segment of the target path; represents the th segment of the target path; represents the number of segments of the target path; represents the carrying capacity of the current monorail crane. In the present invention, the carrying capacity is the weight of the goods carried by the current monorail crane; represents 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 bear; represents the maximum value function, used to select the maximum value between and 0.001 to prevent when then causes the ramp cost to be constantly 1.

[0053] When the single-track crane carries more loads, a more powerful or higher-power power system is required for climbing slopes to provide sufficient traction. For downhill braking, a greater braking force is needed to control the speed and prevent out-of-control situations. Therefore, the same slope has a greater impact on single-track cranes with larger carrying capacities and a smaller impact on those with smaller carrying capacities. Thus, in this embodiment, is used as the exponent to scale up . When the current carrying capacity of the single-track crane is larger, the exponent is smaller, and the degree of scaling up is greater, resulting in a greater ramp cost for the target path. Conversely, when the current carrying capacity of the single-track crane is smaller, the exponent is larger, and the degree of scaling up is smaller, and the ramp cost of the target path is closer to

[0054] S203. Determine the bend cost of the target path according to the turning radius and turning angle of each bend on the target path.

[0055] It should be noted that for a single-track crane, the passable path may involve bends. When driving on a bend, the single-track crane is affected by centrifugal force, and its magnitude is closely related to the turning radius and turning angle. According to the principles 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 running stability of the single-track crane. When the centrifugal force exceeds a certain threshold, it will cause the single-track crane to roll over, and in severe cases, it may lead to a rollover accident. Therefore, the present invention fully considers the impact of the turning radius and turning angle on the running safety of the single-track crane, and determines the bend cost of the target path based on the maximum turning radius and turning angle of the bends in the target path.

[0056] In one embodiment, the bend cost of the target path satisfies the expression:

[0057] ;

[0058] where is the bend cost of the target path, represents the number of bends in the target path; represents the turning radius of the th bend in the target path; represents the maximum value of the turning radii of all bends in all passable paths, used to normalize represents the The turning angle of a bend; Represents the exponential function with the base of the natural constant; when the maximum turning radius is larger and the turning angle is smaller, the centripetal acceleration of the vehicle during turning is lower, the probability of rollover is smaller, and the bend cost of the target path is smaller.

[0059] In another embodiment, the bend cost of the target path satisfies the expression:

[0060] ;

[0061] Wherein, Is the bend cost of the target path, Represents the number of bends in the target path; Represents the -th bend of the target path; Represents the maximum value among the turning radii of all bends in all passable paths, and is used to Normalize; Represents the -th bend of the target path; Represents the exponential function with the base of the natural constant; Represents the carrying capacity of the current monorail crane. In the present invention, the carrying capacity is the weight of the goods carried by the current monorail crane; Represents 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 bear; Represents the maximum value function, Used to screen The maximum value between and 0.001 to prevent when , , , resulting in the bend cost Always being 1.

[0062] During the turning process, the centripetal force generated by the monorail crane with a larger weight is more significant. The larger the amount of goods carried, the stronger the centripetal force during the turning of the monorail crane, resulting in an increased risk of vehicle rollover. Therefore, for the same turning radius and the same turning angle, the impact on the monorail crane with a larger carrying capacity is greater, and the impact on the monorail crane with a smaller carrying capacity is smaller. Therefore, in this embodiment, Is used as the Exponent to expand . The larger the carrying capacity Of the current monorail crane, the smaller the exponent , the greater the expansion degree of , and the greater the bend cost of the target path; conversely, the smaller the carrying capacity Of the current monorail crane, the larger the exponent , the greater the expansion of The smaller the expansion, the closer the corner cost of the target path is to .

[0063] 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.

[0064] 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.

[0065] Specifically, the mechanical cost of the target path satisfies the expression:

[0066] ;

[0067] 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.

[0068] 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.

[0069] In one embodiment, the difficulty of the target path satisfies the expression:

[0070] ;

[0071] 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.

[0072] In another embodiment, the passing difficulty of the target path satisfies the expression:

[0073] ;

[0074] Wherein, represents the passing 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. , , , are set by the implementer according to the actual implementation situation. It should be noted that , , , the sum of should be equal to 1. For example , , , . When the weight of a certain cost is larger, it means that more attention is paid to this cost when performing path planning.

[0075] Similarly, obtain the passing difficulties of all passable paths.

[0076] S3. Determine the influence degree of the current single-track crane on the ventilation system when running on each path according to the angle change amount and change time of each air door that needs to be opened when the current single-track crane runs on each path.

[0077] 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.

[0078] Specifically, the degree of influence of the current monorail crane on the ventilation system when running on the target path satisfies the expression:

[0079] ;

[0080] 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.

[0081] 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. The larger it is. It should be noted that the unit of the change time in the present invention is minutes, and the implementer can adjust it according to the actual implementation situation.

[0082] Similarly, obtain the influence degree of the current single-track crane on the ventilation system when running on each path.

[0083] S4. Determine the optimal path of the current single-track crane according to the passing difficulty of each path and the influence degree of the current single-track crane on the ventilation system when running on each path.

[0084] It should be noted that when the passing difficulty of the target path is smaller and the influence degree of the current single-track crane on the ventilation system when running on the target path is larger, the running efficiency of the current single-track crane on the target path is lower, the cost is higher, and the safety is poorer. Therefore, the present invention determines the passing advantages of each path according to the passing difficulty of each path and the influence degree of the current single-track crane on the ventilation system when running on each path.

[0085] Specifically, the passing advantage of the target path satisfies the expression:

[0086] ;

[0087] In the formula, represents the passing advantage of the target path, represents the passing difficulty of the target path; represents the influence degree of the current single-track crane on the ventilation system when running on the target path; represents the exponential function with the natural constant as the base. When the passing difficulty is larger, is smaller; when the passing difficulty is smaller, is larger. If the influence degree of the current single-track crane on the ventilation system when running on the target path is smaller, is closer to 1, making the passing advantage more dependent on the passing difficulty . When the passing difficulty is larger, the passing advantage is smaller. When the passing difficulty is smaller, the passing advantage is larger. If the influence degree of the current single-track crane on the ventilation system when running on the target path is larger, is larger, and the decreasing degree of is greater, making the passing advantage of the target path smaller.

[0088] Similarly, obtain the passing advantages of all passable paths. Take the path with the largest passing advantage as the optimal path of the current single-track crane.

[0089] It should be noted that the present invention determines the optimal path of the current single-rail hoist according to the passing advantage, which can improve the operation efficiency of the single-rail hoist, reduce the operation cost, and on the premise of ensuring the safe passage of the single-rail hoist, shorten the air door opening time as much as possible, minimize the impact on the stability of mine ventilation, and ensure the safety and reliability of the underground operation environment.

[0090] An embodiment of the present invention also discloses an Internet of Things-based unmanned vehicle path planning system, including a processor and a memory. The memory stores computer program instructions, and when the computer program instructions are executed by the processor, an Internet of Things-based unmanned vehicle path planning method according to the present invention is implemented.

[0091] The above system also includes other components well known to those skilled in the art, such as a communication bus and a communication interface. Their settings and functions are known in the art, so they will not be elaborated 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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