Optimization Method, System, Device and Storage Medium for Sprinkling Route of Sprinkler Truck

Abstract

The present application relates to a method, system, device and storage medium for optimizing the sprinkling route of a sprinkler truck, which belongs to the technical field of route optimization. The method includes: calculating a target sprinkling amount according to the point cloud data and the initial humidity index of the section to be sprinkled, where the target sprinkling amount is the amount of water required for the section to be sprinkled; constructing a two-dimensional array according to a first identifier and a second identifier, the first identifier is used to represent an idle sprinkler truck, and the second identifier is used to represent the section to be sprinkled; determining a target sprinkler truck according to the target sprinkling amount and the coding value, the coding value corresponds to the two-dimensional array, and the coding value includes the initial water storage capacity of the sprinkler truck and the distance from the sprinkler truck to the section to be sprinkled, and the target sprinkler truck is the sprinkler truck that provides the target sprinkling amount. The present application can optimize the sprinkling path based on the distance between the sprinkler truck and the section to be sprinkled and the initial water storage capacity that the sprinkler truck can provide to the section to be sprinkled, and has the effect of reducing the sprinkling cost.

Description

Technical Field

[0001] The present application relates to the technical field of route optimization, and in particular, to a method, system, device, and storage medium for optimizing the watering route of a watering truck. Background Art

[0002] Autonomous vehicles utilize a variety of technologies including radar, lasers, ultrasonic waves, positioning systems, odometers, computer systems, etc. to perceive the surrounding environment. Through advanced calculations and controls of the computer system, they can identify obstacles and various signs, realizing the driverless function of autonomous vehicles and saving labor costs. Therefore, they are widely used in multiple fields such as unmanned delivery, unmanned patrol, unmanned cleaning, and trunk logistics.

[0003] In a mine environment, for most common autonomous watering trucks, the principle of generating a watering path is mostly to minimize the path length on the premise of ensuring no collision of the vehicle, so that the autonomous watering truck tends to take some "shortcut" paths and try to obtain the lowest cost. However, the working goal of the autonomous watering truck is to sprinkle water over the entire section. At this time, evaluating the path planning only at the cost of path length is not a very appropriate solution. For example, when the water demand of the section is much greater than the water volume that the autonomous watering truck can carry, it may cause the autonomous watering truck to make multiple round trips to achieve full coverage watering, resulting in an increase in watering costs. Summary of the Invention

[0004] In order to optimize the watering path of an autonomous watering truck and reduce watering costs, the present application provides a method, system, device, and storage medium for optimizing the watering route of a watering truck.

[0005] In the first aspect of the present application, a method for optimizing the watering route of a watering truck is provided. The method includes:

[0006] Calculating a target watering amount based on the point cloud data and the initial humidity index of the section to be watered, where the target watering amount is the amount of water required for the section to be watered;

[0007] Constructing a two-dimensional array according to a first identifier and a second identifier, where the first identifier is used to represent an idle watering truck, and the second identifier is used to represent the section to be watered;

[0008] Determining a target watering truck according to the target watering amount and a coding value, where the coding value corresponds to the two-dimensional array, and the coding value includes the initial water storage of the watering truck and the distance from the watering truck to the section to be watered, and the target watering truck is the watering truck that provides the target watering amount.

[0009] By adopting the above technical solution, first, calculate the required water volume based on the point cloud data and the initial humidity index of the road section to be sprinkled. Then, establish a binding relationship between each road section to be sprinkled and the idle sprinkler trucks, that is, obtain a two-dimensional array, and the two-dimensional array is mapped to the coding value composed of the initial water storage of the sprinkler truck and the distance from the sprinkler truck to the road section to be sprinkled. Then, for each road section to be sprinkled, comprehensively consider whether the initial water storage of the sprinkler truck meets the requirements and whether the distance from the sprinkler truck to the road section to be sprinkled is short enough, so that when the sprinkler truck performs the sprinkling task, it no longer simply takes the short distance as the condition for selecting the sprinkling path, avoiding the situation that the sprinkler truck makes multiple round trips, thereby achieving the purpose of saving the sprinkling cost.

[0010] In a possible implementation manner: determining the target sprinkler truck according to the target water sprinkling volume and the coding value includes:

[0011] Select the coding value whose initial water storage is greater than or equal to the target water sprinkling volume and determine it as the to-be-determined coding value;

[0012] Judge whether the to-be-determined coding value meets: F = 1, where F is the number of the to-be-determined coding values;

[0013] If so, determine the to-be-determined coding value as the target coding value, and determine the sprinkler truck involved in the target coding value as the target sprinkler truck;

[0014] If not, and F > 1, calculate the scheduling score of the sprinkler trucks involved in the to-be-determined coding value, and determine the sprinkler truck with the maximum scheduling score as the target sprinkler truck, where the scheduling score is used to reflect the adaptability of the sprinkler truck to the road section to be sprinkled;

[0015] If not, and F = 0, calculate the total consumption score of each pair of sprinkler trucks, and determine the pair of sprinkler trucks with the minimum total consumption score as the target sprinkler truck, where each pair of sprinkler trucks consists of two sprinkler trucks, and the total consumption score is used to reflect the cost when each pair of sprinkler trucks sprinkles water on the road section to be sprinkled.

[0016] By adopting the above technical solution, first, if the initial water storage of only one sprinkler truck meets the water volume required for the road section to be sprinkled, then this sprinkler truck is used to perform the sprinkling task, avoiding the problem of increased costs caused by using multiple sprinkler trucks to provide the target sprinkling volume for the same road section to be sprinkled simultaneously. When the initial water storage of multiple sprinkler trucks all meets the water volume required for the road section to be sprinkled, comprehensively consider whether the initial water storage of the sprinkler truck meets the demand and whether the distance from the sprinkler truck to the road section to be sprinkled is short enough. In addition, when the initial water storage of any sprinkler truck does not meet the water volume required for the road section to be sprinkled, comprehensively consider whether the initial water storage of two sprinkler trucks meets the demand and whether the distance from each sprinkler truck to the road section to be sprinkled is short enough, so as to ensure that the target sprinkler truck matched for the current road section to be sprinkled is the optimal choice, thereby achieving the purpose of reducing sprinkling costs.

[0017] In a possible implementation manner: calculating the scheduling score of the sprinkler truck involved in the undetermined coding value includes:

[0018] Obtaining a first score according to the distance from the sprinkler truck to the road section to be sprinkled;

[0019] Calculating the difference between the initial water storage in the undetermined coding value and the target sprinkling volume to obtain a second score;

[0020] Obtaining a water volume weight according to the density of the road sections to be sprinkled in the area where the road section to be sprinkled is located;

[0021] The calculation formula for the scheduling score is: , where S 总 is the scheduling score, S1 is the first score, S2 is the second score, and W is the water volume weight.

[0022] By adopting the above technical solution, when the initial water storage of multiple sprinkler trucks all meets the water volume required for the road section to be sprinkled, calculate the scheduling score of each sprinkler truck. The calculation process of the scheduling score involves the distance from the sprinkler truck to the road section to be sprinkled, the difference between the initial water storage of the sprinkler truck and the target sprinkling volume, and the density of the road sections to be sprinkled in the area where the road section to be sprinkled is located. The addition of multiple factors ensures the accuracy of the calculated scheduling score, so that even if the distance between the sprinkler truck and the road section to be sprinkled is not the shortest, the sprinkler truck can sprinkle other road sections to be sprinkled nearby, reducing the number of times of scheduling the sprinkler truck and improving the utilization rate of the sprinkler truck, achieving the purpose of saving sprinkling costs.

[0023] In a possible implementation manner: obtaining the first score according to the distance from the sprinkler truck to the road section to be sprinkled includes: the calculation formula for the first score is: , where k refers to the maximum value of the distance involved in the undetermined coding value, d iis the distance from the i-th sprinkler truck to the road section to be sprinkled.

[0024] In a possible implementation manner: obtaining the water volume weight according to the density of the road sections to be sprinkled in the area where the road section to be sprinkled is located includes:

[0025] The calculation formula for the water volume weight is: , where m is the number of road sections to be sprinkled whose distance from this road section to be sprinkled is less than the distance threshold, and M is the total number of road sections to be sprinkled.

[0026] In a possible implementation manner: calculating the total consumption score of each pair of sprinkler trucks includes:

[0027] Calculating the sum value of the initial water storage amounts of the two sprinkler trucks in each pair of sprinkler trucks;

[0028] Calculating the difference between the sum value and the target water sprinkling amount, and using the difference as the initial score of each pair of sprinkler trucks;

[0029] Calculating the distances from the two sprinkler trucks in each pair of sprinkler trucks to the road section to be sprinkled respectively;

[0030] Adding the two distances corresponding to each pair of sprinkler trucks to obtain an additional score;

[0031] Adding the initial score and the additional score to obtain the total consumption score.

[0032] By adopting the above technical solution, when the initial water storage amounts of two sprinkler trucks are required to meet the water volume required for the road section to be sprinkled, it is necessary to consider the distance from each pair of sprinkler trucks to the road section to be sprinkled and the difference between the initial water storage amount of each pair of sprinkler trucks and the target water sprinkling amount. The total consumption score is calculated through these two factors, and the farther the distance or the greater the water volume difference, the greater the total consumption score obtained, and the smaller the probability that the corresponding pair of sprinkler trucks is selected, so as to ensure that the two selected sprinkler trucks are the optimal choice, so as to achieve the purpose of saving the sprinkling cost.

[0033] In a possible implementation manner: the method further includes: when there are multiple road sections to be sprinkled:

[0034] Retrieving the historical traffic data of each road section to be sprinkled, where the historical traffic data includes traffic flow and pedestrian flow;

[0035] Determining the sprinkling time period of each road section to be sprinkled according to the historical traffic data;

[0036] Sorting the multiple road sections to be sprinkled in the order of the sprinkling time periods to obtain a data list;

[0037] Determine the target sprinkler truck for each of the sections to be sprinkled in sequence according to the sorting of the sections to be sprinkled in the said data list.

[0038] By adopting the above technical solution, determining the sprinkling time period based on historical traffic data, a time period with relatively few vehicle flows and pedestrian flows can be selected as the sprinkling time period, so as to reduce the impact on traffic caused by performing the sprinkling task. In addition, after sorting multiple sections to be sprinkled in the order of the sprinkling time periods, then determining the target sprinkler truck for each of the sections to be sprinkled in the new order, so as to give priority to sprinkling the sections to be sprinkled in the front. The sprinkler trucks that have completed the sprinkling operation can also be re-paired with other sections to be sprinkled, improving the utilization rate of the sprinkler trucks and reducing the demand for the number of sprinkler trucks, achieving the purpose of saving sprinkling costs.

[0039] In the second aspect of the present application, a sprinkling route optimization system for a sprinkler truck is provided. The system includes:

[0040] A data calculation module, configured to calculate a target sprinkling amount according to the point cloud data and the initial humidity index of the section to be sprinkled, where the target sprinkling amount is the amount of water required for the section to be sprinkled;

[0041] A data processing module, configured to construct a two-dimensional array according to a first identifier and a second identifier, where the first identifier is used to represent an idle sprinkler truck, and the second identifier is used to represent the section to be sprinkled;

[0042] A data determination module, configured to determine a target sprinkler truck according to the target sprinkling amount and a coding value, where the coding value corresponds to the two-dimensional array, and the coding value includes the initial water storage amount of the sprinkler truck and the distance from the sprinkler truck to the section to be sprinkled, and the target sprinkler truck is the sprinkler truck that provides the target sprinkling amount.

[0043] In the third aspect of the present application, a sprinkling route optimization device for a sprinkler truck is provided. The device includes: a memory and a processor, where a computer program is stored on the memory, and when the processor executes the program, the above-mentioned any sprinkling route optimization method for a sprinkler truck is implemented.

[0044] In the fourth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned any sprinkling route optimization method for a sprinkler truck is implemented.

[0045] In summary, the present application includes at least one of the following beneficial technical effects:

[0046] First, calculate the required water volume based on the point cloud data and the initial humidity index of the road section to be sprinkled. Then, establish a binding relationship between each road section to be sprinkled and the idle sprinkler trucks, that is, obtain a two-dimensional array, and the two-dimensional array is mapped to the coding value composed of the initial water storage of the sprinkler truck and the distance from the sprinkler truck to the road section to be sprinkled. Then, for each road section to be sprinkled, comprehensively consider whether the initial water storage of the sprinkler truck meets the requirements and whether the distance from the sprinkler truck to the road section to be sprinkled is short enough, so that when the sprinkler truck performs the sprinkling task, it no longer simply takes the short distance as the condition for selecting the sprinkling path, avoiding the situation where the sprinkler truck makes multiple round trips, thereby achieving the purpose of saving the sprinkling cost. Description of the Drawings

[0047] Figure 1 is a flowchart of a method for optimizing the sprinkling route of a sprinkler truck according to an embodiment of the present application.

[0048] Figure 2 is a block diagram of a system for optimizing the sprinkling route of a sprinkler truck according to an embodiment of the present application.

[0049] Description of the reference numerals: 1. Data calculation module; 2. Data processing module; 3. Data determination module. Detailed Embodiments

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0051] On the mining area transportation road, a large amount of dust is generated during the mining and transportation operations. The dust will not only pollute the surrounding environment and damage the respiratory health of on-site workers, but also affect the vision of vehicle drivers and the perception data of on-vehicle lidar, endangering driving safety. Therefore, sprinkler trucks are usually arranged on the main transportation roads in the mining area to sprinkle water on the road surface to suppress dust. The sprinkler truck uses an autonomous driving vehicle. An autonomous driving vehicle, also known as a driverless car, a computer-driven car, or a wheeled mobile robot, is an intelligent vehicle that realizes driverless through a computer system.

[0052] In order to adapt to the differences in the dust generation levels and dust suppression requirements of each mining and transportation road in the mining area, water sprinklers with different capacities are provided. Different water sprinklers may be parked at cleaning stations in different locations, and as the water sprinkler moves during the water sprinkling task, the distance between the water sprinkler and some mining area roads also changes. In order to quickly mobilize the water sprinkler to perform the water sprinkling task and achieve the goal of saving water sprinkling costs, this application proposes an optimization method for the water sprinkling route of the water sprinkler. As Figure 1 shown, the main process of the optimization method for the water sprinkling route of the water sprinkler is described as follows.

[0053] Step S100: Calculate the target water sprinkling amount based on the point cloud data and the initial humidity index of the section to be watered. The target water sprinkling amount is the amount of water required for the section to be watered.

[0054] First, a lidar is installed at the rear of the moving vehicle. The lidar is configured to collect the point cloud data of the mining area road behind the vehicle. The point cloud data includes the three-dimensional coordinate information of the mining area road and the reflection intensity information of the dust. A dust concentration determination module used in conjunction with the lidar is also provided inside the moving vehicle. The dust concentration determination module is configured to perform dust concentration analysis based on the collected point cloud data located on the mining area road to obtain the dust concentration index, that is, to obtain the dust concentration situation on the mining area road. It should be noted that the moving vehicle can be a water sprinkler or other vehicles specifically used to detect the dust concentration index of the mining area road.

[0055] At the same time, the dust situation can also be monitored by deploying dust sensors on the mining area road to obtain the required dust concentration index. The specific deployment situation can be determined according to the mining area road. For example, the longer the mining area road and the wider the road surface, the more dust sensors are deployed, and the density of the deployed dust sensors can also be set according to actual needs.

[0056] Then, the humidity parameter of the mining area road is collected through a humidity sensor provided on the mining area road. In this example, the humidity parameter collected by the humidity sensor is called the initial humidity index, and hereinafter the mining area road is referred to as the section to be watered.

[0057] Then, the mobile vehicle and the humidity sensor upload the data they have collected to the dispatching center, where a server and a display are set up. Among them, the server can calculate the amount of water required for the road section to be sprinkled according to the dust concentration index and the initial humidity index. In this example, it is called the target sprinkling amount. Specifically, first, the corresponding target humidity index is obtained by matching the dust concentration index. The target humidity index refers to the situation where after sprinkling water on the road surface to remove dust, the viscosity of the wetted road surface increases and the dust concentration decreases to a preset concentration. This corresponding relationship can be obtained through a limited number of experimental calculations. Then, calculate the difference between the target humidity index and the initial humidity index, and divide the area of the road section to be sprinkled by this difference to obtain the target sprinkling amount. The area of the road section to be sprinkled can be collected synchronously when the mobile vehicle collects the point cloud data, or retrieved from the geographic information system. That is, the geographic information system stores information such as the length and area of each mining area road.

[0058] Step S200: Construct a two-dimensional array according to the first identifier and the second identifier. The first identifier is used to represent the idle sprinkler truck, and the second identifier is used to represent the road section to be sprinkled.

[0059] Each sprinkler truck has a unique corresponding identifier, and each road section to be sprinkled is also set with a unique corresponding identifier. The identifiers corresponding to the sprinkler truck and the road section to be sprinkled are respectively called the first identifier and the second identifier. The first identifier and the second identifier can be represented by English letters or numerical values. In this example, natural numbers are used.

[0060] For each idle sprinkler truck and each road section to be sprinkled, retrieve their corresponding identifiers, and construct multiple two-dimensional arrays by combining any two identifiers. The format of the two-dimensional array is a[x][y], where x represents the identifier of the idle sprinkler truck, that is, x represents the first identifier, and y represents the identifier corresponding to the road section to be sprinkled, that is, y represents the second identifier. To facilitate the description of the process of constructing the two-dimensional array, an example is given: Suppose the identifiers of the idle sprinkler trucks are 0, 1, 2, 3, and the identifiers of the road sections to be sprinkled are 0 and 1. Then the obtained two-dimensional arrays are a[0][0], a[0][1], a[1][0], a[1][1], a[2][0], a[2][1], a[3][0], a[3][1].

[0061] Based on each obtained two-dimensional array, map the two-dimensional array to the corresponding encoded value. The encoded value corresponding to the two-dimensional array consists of the current water storage capacity of the sprinkler in the two-dimensional array and the distance from the sprinkler to the road section to be sprinkled in the same two-dimensional array. In this example, the current water storage capacity of the sprinkler in the two-dimensional array is called the initial water storage capacity. That is to say, according to the initial water storage capacity of the sprinkler in the two-dimensional array and the distance from the sprinkler to the road section to be sprinkled, and then encode the two to obtain the encoded value corresponding to the two-dimensional array. In a specific example, the format of the encoded value is 00000000, where the first four digits represent the initial water storage capacity, and the last four digits represent the distance from the sprinkler to the road section to be sprinkled. In other examples, the encoded value can also be set to other formats, as long as it can be realized that the encoded value represents the initial water storage capacity and the distance from the sprinkler to the road section to be sprinkled.

[0062] Step S300: Determine the target sprinkler according to the target water sprinkling amount and the encoded value. The encoded value corresponds to the two-dimensional array, and the encoded value includes the initial water storage capacity of the sprinkler and the distance from the sprinkler to the road section to be sprinkled. The target sprinkler is the sprinkler that provides the target water sprinkling amount.

[0063] First, sort the multiple road sections to be sprinkled in the order of the sprinkling time periods to obtain a data list. Specifically, according to the historical traffic data of each road section to be sprinkled, the historical traffic data is the traffic flow and pedestrian flow of the road section to be sprinkled in the past time, and select the time period with relatively low traffic flow and pedestrian flow as the sprinkling time period to reduce the impact on traffic caused by performing the sprinkling task.

[0064] Then, according to the sorting of the road sections to be sprinkled in the data list, select a suitable target sprinkler for each road section to be sprinkled in turn. For the convenience of explaining the specific matching process, steps S310 to S350 take the example of matching a target sprinkler for a road section to be sprinkled.

[0065] Step S310: Select the encoded value with the initial water storage capacity greater than or equal to the target water sprinkling amount as the pending encoded value. Since there are multiple types of sprinklers, and the sprinkling time periods of the road sections to be sprinkled may be different, there are multiple idle sprinklers in the same time period. Each idle sprinkler is combined with the road section to be sprinkled to obtain a two-dimensional array, and each two-dimensional array has a corresponding encoded value. Therefore, a road section to be sprinkled has corresponding multiple encoded values, and then select the encoded value with the initial water storage capacity greater than or equal to the target water sprinkling amount from the multiple encoded values as the pending encoded value.

[0066] Step S320: Determine whether the pending encoded value satisfies: F = 1, where F is the number of pending encoded values.

[0067] Step S330: If so, it indicates that only the initial water storage of one sprinkler is greater than or equal to the target water spraying amount, and it also means that only this sprinkler can be mobilized to perform the water spraying task for this section of the road to be watered. Therefore, at this time, the single undetermined coding value is used as the target coding value, and the sprinkler involved in the target coding value is used as the target sprinkler, and the target sprinkler provides the required water volume for this section of the road to be watered.

[0068] Step S340: If not, and the number F of undetermined coding values > 1, then calculate the difference between the initial water storage and the target water spraying amount, and determine whether the minimum value of the difference is the same undetermined coding value as the minimum value of the distances among the undetermined coding values. If they are the same undetermined coding value, then use this undetermined coding value as the target coding value, and at the same time set the sprinkler involved in the target coding value as the target sprinkler, and the target sprinkler provides the target water spraying amount for this section of the road to be watered. Otherwise, when the minimum value of the difference is not the same undetermined coding value as the minimum value of the distances among the undetermined coding values, it is necessary to calculate the scheduling score of the sprinklers involved in the undetermined coding values, and then select the sprinkler with the largest scheduling score as the target sprinkler. Specifically, the process of calculating the scheduling score of the sprinklers involved in the undetermined coding values is shown in Steps S341 to S344.

[0069] Step S341: Obtain the first score according to the distance from the sprinkler to the road section to be watered, and the first score is represented by S1. In a specific example, the calculation formula for the first score S1 is: , where k is the maximum value of the distances, which refers to the maximum value of the distances in the undetermined coding values, and d i is the distance from the i-th sprinkler to this section of the road to be watered.

[0070] Step S342: Obtain the second score according to the target water spraying amount and the initial water storage in the undetermined coding values, and the second score is represented by S2. In a specific example, the calculation formula for the second score S2 is: , where L i is the initial water spraying amount of the i-th sprinkler, and L0 is the target water spraying amount.

[0071] Step S343: Obtain the water volume weight according to the density of the road sections to be watered in the area where the road section to be watered is located, and the water volume weight is represented by W. In a specific example, the calculation formula for the water volume weight W is: , where m is the number of road sections to be watered whose distance from this section of the road to be watered is less than the distance threshold, and M is the total number of road sections to be watered.

[0072] Step S344: Calculate the scheduling score of the sprinkler according to the first score, the second score and the water volume weight. The scheduling score of the sprinkler is represented by S 总 and then .

[0073] During actual use, the scheduling score of the sprinkler involved in the undetermined coding value calculated according to the above steps S341 to S344 is used to select the sprinkler with the highest scheduling score as the target sprinkler from them, that is, to select the sprinkler whose initial water storage meets the water volume required for the road section to be sprinkled. Moreover, this sprinkler can also sprinkle water on other road sections to be sprinkled nearby, reducing the number of times of dispatching sprinklers and saving the sprinkling cost.

[0074] Step S350: If not, and the number F of undetermined coding values is 0, then first sort the coding values in ascending order or descending order according to the initial water storage, and then retrieve the initial water storage in the coding values in a cross-retrieval order from one end to the other. Add the initial water storage retrieved twice adjacent to each other, that is, add the initial water storage retrieved twice from one end to the other to obtain multiple groups of sum values. At this time, each group of sum values corresponds to two sprinklers, that is, one group of sum values corresponds to a pair of sprinklers. Then, calculate the difference between each group of sum values and the target water volume to obtain the initial score of each pair of sprinklers. Secondly, calculate the distance from each pair of sprinklers to the road section to be sprinkled. Specifically, calculate the distance from each sprinkler in each pair of sprinklers to the road section to be sprinkled respectively, and then add the two distances to obtain the additional score of this pair of sprinklers. Finally, add the initial score and the additional score of each pair of sprinklers to obtain the total consumption score, and use the pair of sprinklers with the smallest total consumption score as the target sprinkler for the road section to be sprinkled, that is, two sprinklers provide the target water volume for the road section to be sprinkled at the same time.

[0075] It should be noted that the capacity of the sprinkler usually set is greater than the water volume required for a single road section to be sprinkled. Therefore, the situation where the number F of undetermined coding values is 0 is very rare. Basically, when the sprinkler finishes the sprinkling task and enters the idle state again, the remaining water volume does not meet the water volume required for the road section to be sprinkled.

[0076] Each road section to be sprinkled in the data list can be matched to the corresponding target sprinkler according to the above steps. Moreover, during the matching process, the sprinkler with sufficient water volume and short distance is preferentially selected, so that when the sprinkler performs the sprinkling task, the condition of simply using the short distance as the condition for selecting the sprinkling path is no longer used, avoiding the situation where the sprinkler makes multiple round trips, thereby achieving the purpose of saving the sprinkling cost.

[0077] In summary, the implementation principle of the method for optimizing the sprinkling route of a mine sprinkler in an embodiment of the present application is as follows: First, based on the collected mine environmental point cloud data and the initial humidity index of each section to be sprinkled, the accurate amount of water required is calculated. Then, a binding relationship is established between each section to be sprinkled and the idle sprinkler trucks, that is, a two-dimensional array is obtained. This two-dimensional array is mapped to a comprehensive coding value composed of parameters such as the initial water storage capacity of the sprinkler truck, the distance from the sprinkler truck to the section to be sprinkled, the distance from the sprinkler truck to the nearest water filling station, and the remaining water volume after completing the current section. Then, for each section to be sprinkled, this method selects, through an intelligent algorithm, the coding value whose initial water storage capacity is greater than or equal to the water volume required for the section to be sprinkled. At the same time, factors such as the actual driving distance from the sprinkler truck to the section to be sprinkled, the road density distribution in the area where the section to be sprinkled is located, the spatial distribution of the water filling stations, and the distance from the sprinkler truck to the nearest water filling station after completing the current section are comprehensively considered to reasonably evaluate and plan the endurance capacity and water filling timing of the sprinkler truck.

[0078] For example, obtain the initial information of the sections to be sprinkled and the sprinkler trucks in the current mining area: Based on the collected mine environmental point cloud data, the system obtains the specific situations of 4 sections to be sprinkled (denoted as sections A, B, C, and D respectively). Among them, section A is the main trunk transportation road with a length of 2.5 kilometers; section B is the stope working platform with an area of approximately 3000 square meters; section C is the waste dump road with a length of 1.8 kilometers; section D is the access road to the stope with a length of 1.2 kilometers. At the same time, the system shows that there are currently 3 idle sprinkler trucks (numbered 1, 2, and 3 respectively). Among them, the water storage capacity of sprinkler truck No. 1 is 15 tons, the water storage capacity of sprinkler truck No. 2 is 12 tons, and the water storage capacity of sprinkler truck No. 3 is 10 tons. And there are 2 water filling stations (denoted as S1 and S2) in the mining area.

[0079] Calculate the water demand based on the point cloud data and the initial humidity index of each section: The system detects that the average humidity index of section A is 0.3 (relatively dry), and the water demand is 8 tons; the average humidity index of section B is 0.5 (medium humidity), and the water demand is 5 tons; the average humidity index of section C is 0.2 (very dry), and the water demand is 7 tons; the average humidity index of section D is 0.4 (medium dry), and the water demand is 4 tons.

[0080] Establish the position relationship matrix between the road sections to be sprinkled and the sprinkler trucks: The system obtains the actual distance data between each sprinkler truck and the road sections to be sprinkled. For example, the distances of Sprinkler Truck No. 1 from Road Sections A, B, C, and D are 1.2 km, 2.5 km, 3.8 km, and 2.0 km respectively, and the distances from water filling stations S1 and S2 are 2.0 km and 3.5 km respectively; the distances of Sprinkler Truck No. 2 from Road Sections A, B, C, and D are 2.8 km, 1.5 km, 2.2 km, and 3.0 km respectively, and the distances from water filling stations S1 and S2 are 1.8 km and 2.5 km respectively; the distances of Sprinkler Truck No. 3 from Road Sections A, B, C, and D are 3.0 km, 2.8 km, 1.5 km, and 2.6 km respectively, and the distances from water filling stations S1 and S2 are 2.5 km and 1.6 km respectively.

[0081] The system conducts intelligent scheduling based on comprehensive evaluation: First, it determines the priority of each road section. Since Road Section A is the main road and relatively dry, its priority is the highest. The system analyzes and finds that Sprinkler Truck No. 1 is the closest to Road Section A and has sufficient water volume (15 tons > 8 tons). Therefore, it arranges Sprinkler Truck No. 1 to perform the sprinkling task on Road Section A. After completion, Sprinkler Truck No. 1 has 7 tons of water remaining, and its position is 2.5 km away from Road Section B. Considering that Road Section B only requires 5 tons of water and the remaining water volume of Sprinkler Truck No. 1 is sufficient, the system continues to arrange Sprinkler Truck No. 1 to complete Road Section B, and then immediately goes to water filling station S1, which is 1.5 km away, to replenish water. At the same time, Sprinkler Truck No. 3 is the closest to Road Section C (1.5 km) and its water volume meets the requirements (10 tons > 7 tons). The system arranges it to perform the sprinkling task on Road Section C. Sprinkler Truck No. 2 is arranged to perform the sprinkling task on Road Section D (requiring 4 tons of water) because it has sufficient water volume (12 tons) and its current position is moderate.

[0082] By incorporating key factors such as the location of water filling stations and road section density into the path planning, the target sprinkler truck matched for the current road sections to be sprinkled is the optimal choice. This not only optimizes the sprinkling path of the sprinkler truck, but more importantly, by reasonably planning the water filling route, it avoids the problem of the sprinkler truck frequently traveling back and forth to the water filling station, reduces the no-load driving distance, thereby achieving the purpose of reducing energy consumption, saving time, and reducing operating costs. It is especially suitable for improving the sprinkling operation efficiency in complex mine terrain environments. This method realizes the intelligent scheduling of mine sprinkling operations through intelligent algorithms, significantly improves the operation efficiency while ensuring the sprinkling quality, and has important practical value.

[0083] Figure 2 The block diagram of a sprinkling route optimization system for a sprinkler truck according to an embodiment of the present application is shown. The system includes a data calculation module 1, a data processing module 2, and a data determination module 3.

[0084] The data calculation module 1 is used to calculate the target sprinkling volume based on the point cloud data and the initial humidity index of the road sections to be sprinkled, and the target sprinkling volume is the water volume required for the road sections to be sprinkled.

[0085] A data processing module 2, configured to construct a two-dimensional array according to a first identifier and a second identifier, where the first identifier is used to represent an idle sprinkler truck, and the second identifier is used to represent a road section to be sprinkled.

[0086] A data determination module 3, configured to determine a target sprinkler truck according to a target water sprinkling amount and a coding value, where the coding value corresponds to the two-dimensional array, and the coding value includes the initial water storage amount of the sprinkler truck and the distance from the sprinkler truck to the road section to be sprinkled, and the target sprinkler truck is the sprinkler truck that provides the target water sprinkling amount.

[0087] The modules involved in the embodiments of the present application can be implemented in software or in hardware. The described modules can also be provided in a processor. For example, it can be described as: a processor includes a data calculation module 1, a data processing module 2, and a data determination module 3. Among them, the names of these modules do not constitute a limitation to the module itself in some cases. For example, the data calculation module 1 can also be described as "a module for calculating a target water sprinkling amount according to the point cloud data of the road section to be sprinkled and the initial humidity index".

[0088] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the described modules can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0089] To better execute the program of the above method, the present application also provides a device for optimizing the sprinkling route of a sprinkler truck, and the device includes a memory and a processor.

[0090] Among them, the memory can be used to store instructions, programs, codes, code sets or instruction sets. The memory can include a program storage area and a data storage area. The program storage area can store instructions for implementing an operating system, instructions for at least one function, and instructions for implementing the above method for optimizing the sprinkling route of the sprinkler truck, etc.; the data storage area can store data involved in the above method for optimizing the sprinkling route of the sprinkler truck, etc.

[0091] The processor can include one or more processing cores. The processor runs or executes instructions, programs, code sets or instruction sets stored in the memory, calls data stored in the memory, and executes various functions of the present application and processes data. The processor can be at least one of an application specific integrated circuit, a digital signal processor, a digital signal processing device, a programmable logic device, a field programmable gate array, a central processing unit, a controller, a microcontroller, and a microprocessor. It can be understood that for different devices, the electronic devices for implementing the above processor functions can also be others, and the embodiments of the present application do not make specific limitations.

[0092] The present application also provides a computer-readable storage medium, for example, including: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs. The computer-readable storage medium stores a computer program that can be loaded and executed by a processor to perform the above-mentioned method for optimizing the watering route of a sprinkler truck.

[0093] The above description is only a preferred embodiment of the present application and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of disclosure involved in the present application is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the foregoing disclosure concept. For example, the technical solutions formed by mutually replacing the above features with the (but not limited to) technical features having similar functions disclosed in the present application.

Claims

1. An optimization method for the sprinkling route of a sprinkler truck, characterized in that, Including: Calculating a target water sprinkling amount based on the point cloud data and the initial humidity index of the section to be watered, where the target water sprinkling amount is the amount of water required for the section to be watered; the point cloud data includes the three-dimensional coordinate information of the mining area road and the reflection intensity information of the dust; analyzing the dust concentration of the point cloud data to obtain a dust concentration index, matching the corresponding target humidity index for the dust concentration index, where the target humidity index refers to after watering and dust removal on the road surface, the viscosity of the wetted road surface increases and the dust concentration decreases to a preset concentration; calculating the difference between the target humidity index and the initial humidity index, and then dividing the area of the section to be watered by this difference to obtain the target water sprinkling amount; Constructing a two-dimensional array according to the first identifier and the second identifier, where the first identifier is used to represent an idle sprinkler truck, and the second identifier is used to represent the section to be watered; mapping the two-dimensional array to a comprehensive coding value composed of the initial water storage amount of the sprinkler truck, the distance from the sprinkler truck to the section to be watered, the distance from the sprinkler truck to the nearest water filling station, and the remaining water amount parameter after the current section is expected to be completed; Determining a target sprinkler truck according to the target water sprinkling amount and the coding value, where the coding value corresponds to the two-dimensional array, the coding value includes the initial water storage amount of the sprinkler truck and the distance from the sprinkler truck to the section to be watered, and the target sprinkler truck is the sprinkler truck that provides the target water sprinkling amount; The determining the target sprinkler truck according to the target water sprinkling amount and the coding value includes: selecting the coding value with the initial water storage amount greater than or equal to the target water sprinkling amount as the to-be-determined coding value; judging whether the to-be-determined coding value satisfies: F = 1, where F is the number of the to-be-determined coding values; if so, determining the to-be-determined coding value as the target coding value, and determining the sprinkler truck involved in the target coding value as the target sprinkler truck; if not, and F > 1, then calculating the scheduling score of the sprinkler trucks involved in the to-be-determined coding value, and determining the sprinkler truck with the maximum scheduling score as the target sprinkler truck, where calculating the scheduling score of the sprinkler trucks involved in the to-be-determined coding value includes: obtaining a first score according to the distance from the sprinkler truck to the section to be watered; calculating the difference between the initial water storage amount in the to-be-determined coding value and the target water sprinkling amount to obtain a second score; Obtain a water volume weight based on the density of the sections to be watered in the area where the sections to be watered are located; the calculation formula for the scheduling score is: S 总 = S1 + S2 * W, where S_total is the scheduling score, S1 is the first score, S2 is the second score, and W is the water volume weight; the calculation formula for the first score is: where k refers to the maximum value of the distances involved in the undetermined coding values, and di is the distance from the i-th sprinkler truck to the section to be watered; the calculation formula for the water volume weight is: where m is the number of sections to be watered with a distance less than the distance threshold, M is the total number of sections to be watered, and the scheduling score is used to reflect the suitability between the sprinkler truck and the section to be watered; if not, and F = 0, then calculate the total consumption score of each pair of sprinkler trucks, and determine the pair of sprinkler trucks with the minimum total consumption score as the target sprinkler trucks. Each pair of sprinkler trucks consists of two sprinkler trucks, and the total consumption score is used to reflect the cost when each pair of sprinkler trucks waters the section to be watered.

2. The method for optimizing the sprinkling route of a sprinkler according to claim 1, wherein, The calculating the total consumption score of each pair of sprinkler trucks includes: calculating the sum value of the initial water storage amounts of the two sprinkler trucks in each pair of sprinkler trucks; calculating the difference between the sum value and the target water sprinkling amount, and using the difference as the initial score of each pair of sprinkler trucks; calculating the distances from the two sprinkler trucks in each pair of sprinkler trucks to the section to be watered respectively; adding the two distances corresponding to each pair of sprinkler trucks to obtain an additional score; adding the initial score and the additional score to obtain the total consumption score.

3. The method for optimizing the sprinkling route of a sprinkler according to claim 1, characterized in that, The method further includes: when there are multiple road sections to be watered: retrieving the historical traffic data of each road section to be watered, where the historical traffic data includes traffic flow and pedestrian flow; determining the watering time period of each road section to be watered according to the historical traffic data; sorting the multiple road sections to be watered in the order of the watering time periods to obtain a data list; and sequentially determining the target watering vehicle for each road section to be watered according to the sorting of the road sections to be watered in the data list.

4. An optimized sprinkling route system for a sprinkler truck, characterized in that, including: a data calculation module (1) for calculating a target water application amount according to the point cloud data and the initial humidity index of the road section to be watered, where the target water application amount is the amount of water required for the road section to be watered; the point cloud data includes the three-dimensional coordinate information of the mining area road and the reflection intensity information of the dust; performing dust concentration analysis on the point cloud data to obtain a dust concentration index, and matching the dust concentration index with a corresponding target humidity index, where the target humidity index refers to that after watering and dust removal on the road surface, the viscosity of the wetted road surface increases and the dust concentration decreases to a preset concentration; calculating the difference between the target humidity index and the initial humidity index, and then dividing the area of the road section to be watered by the difference to obtain the target water application amount; a data processing module (2) for constructing a two-dimensional array according to a first identifier and a second identifier, where the first identifier is used to represent an idle watering vehicle, and the second identifier is used to represent the road section to be watered; mapping the two-dimensional array to a comprehensive coding value composed of the initial water storage amount of the watering vehicle, the distance from the watering vehicle to the road section to be watered, the distance from the watering vehicle to the nearest water filling station, and the remaining water amount parameter after the current road section is expected to be completed; a data determination module (3) for determining a target watering vehicle according to the target water application amount and the coding value, where the coding value corresponds to the two-dimensional array, and the coding value includes the initial water storage amount of the watering vehicle and the distance from the watering vehicle to the road section to be watered, and the target watering vehicle is the watering vehicle that provides the target water application amount; the root Determine the target sprinkler truck according to the target water sprinkling amount and the coding value, including: selecting the coding value whose initial water storage amount is greater than or equal to the target water sprinkling amount as the to-be-determined coding value; judging whether the to-be-determined coding value satisfies: F = 1, where F is the number of the to-be-determined coding values; if so, determining the to-be-determined coding value as the target coding value, and determining the sprinkler truck involved in the target coding value as the target sprinkler truck; if not, and F > 1, then calculate the scheduling score of the sprinkler trucks involved in the to-be-determined coding value, and determine the sprinkler truck with the maximum scheduling score as the target sprinkler truck. Calculating the scheduling score of the sprinkler trucks involved in the to-be-determined coding value includes: obtaining a first score according to the distance from the sprinkler truck to the section to be watered; calculating the difference between the initial water storage amount in the to-be-determined coding value and the target water sprinkling amount to obtain a second score; Obtain a water volume weight based on the density of the road sections to be watered in the area where the road sections to be watered are located; the calculation formula for the scheduling score is: S 总 = S1 + S2 * W, where S total is the scheduling score, S1 is the first score, S2 is the second score, and W is the water volume weight; the calculation formula for the first score is: where k refers to the maximum value of the distances involved in the undetermined coding values, and di is the distance from the i-th sprinkler truck to the road section to be watered; the calculation formula for the water volume weight is: where m is the number of road sections to be watered with a distance less than the distance threshold, M is the total number of road sections to be watered, and the scheduling score is used to reflect the suitability between the sprinkler truck and the road sections to be watered; if not, and F = 0, then calculate the total consumption score of each pair of sprinkler trucks, and determine the pair of sprinkler trucks with the minimum total consumption score as the target sprinkler trucks. Each pair of sprinkler trucks consists of two sprinkler trucks, and the total consumption score is used to reflect the cost when each pair of sprinkler trucks waters the road sections to be watered.

5. An optimized device for the sprinkling route of a sprinkler truck, characterized in that, including a memory and a processor, where a computer program is stored on the memory, and when the processor executes the program, the method according to any one of claims 1-3 is implemented.

6. A computer-readable storage medium, characterized in that, A computer program is stored thereon, and when the program is executed by the processor, the method according to any one of claims 1-3 is implemented.

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