Road state determination method and device and electronic equipment

Abstract

The invention provides a road state determination method and device and electronic equipment, and the method comprises the steps: obtaining the accelerated speed of target vehicle-mounted equipment in a plurality of set road periods, and achieving the purpose of determining the change condition of the accelerated speed according to the size relation between the accelerated speed and the standard deviation of the accelerated speed for any accelerated speed, the acceleration standard deviation is the standard deviation of the acceleration in a plurality of set road periods, so that the road state of the corresponding road is determined according to the change condition of each acceleration. Therefore, the road state can be determined based on the change condition of the acceleration, the state of the surface mine road can be analyzed visually and timely, and production personnel are assisted to make scheduling decisions.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a method, device and electronic equipment for determining a road state. Background Art

[0002] The road in an open-pit mine is the only link that maintains the mining and drainage structure, and open-pit mine transportation is an important link in the open-pit mine production system. Since the working environment of the mine is very harsh and needs to operate around the clock, it is necessary to perceive the status of the road in a timely manner to assist production personnel in making scheduling decisions.

[0003] In related technologies, open-pit coal mines can use level meters and inclinometers to determine the slope of roads, but the former has a single function and a small measurement range, and the latter cannot measure under accelerated motion, so its application is greatly limited. In addition, open-pit coal mines can also use vehicle-to-vehicle communication technology to transmit road status information, but vehicle-to-vehicle communication requires the deployment of corresponding communication equipment and infrastructure in vehicles and road infrastructure. In areas or roads without perfect infrastructure, vehicle-to-vehicle communication measurements may not be possible, and the coverage of vehicle-to-vehicle communication is limited, and the communication distance and transmission rate may be limited by signal strength and propagation environment. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, the first purpose of the present invention is to propose a road state determination method to determine the road state based on the change of acceleration, which is conducive to intuitively and timely analyzing the state of open-pit mine roads, thereby assisting production personnel in making scheduling decisions.

[0006] A second object of the present invention is to provide a road state determination device.

[0007] A third objective of the present invention is to provide an electronic device.

[0008] A fourth object of the present invention is to provide a computer-readable storage medium.

[0009] A fifth object of the present invention is to provide a computer program product.

[0010] To achieve the above object, a first embodiment of the present invention provides a method for determining a road state, comprising:

[0011] Obtaining the acceleration of the target vehicle-mounted equipment within a plurality of set road cycles;

[0012] For any of the accelerations, the change of the acceleration is determined according to the magnitude relationship between the acceleration and the acceleration standard deviation; wherein the acceleration standard deviation is the standard deviation of the acceleration within a plurality of set road cycles;

[0013] The road state of the corresponding road is determined according to the change of each acceleration.

[0014] To achieve the above object, a second embodiment of the present invention provides a road state determination device, comprising:

[0015] An acquisition module, used to acquire the acceleration of the target vehicle-mounted equipment within a plurality of set road cycles;

[0016] A first determination module is used to determine the change of the acceleration according to the magnitude relationship between the acceleration and the acceleration standard deviation for any of the accelerations; wherein the acceleration standard deviation is the standard deviation of the acceleration within a plurality of set road cycles;

[0017] The second determination module is used to determine the road state of the corresponding road according to the change of each acceleration.

[0018] To achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the road state determination method of the first aspect mentioned above.

[0019] In order to achieve the above-mentioned purpose, a fourth aspect of the present invention proposes a computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to execute the road state determination method of the first aspect.

[0020] In order to achieve the above-mentioned purpose, a fifth aspect of the present invention proposes a computer program product, including a computer program, which implements the road state determination method of the first aspect when executed by a processor.

[0021] The technical solution provided by the embodiment of the present invention has the following beneficial effects:

[0022] By obtaining the acceleration of the target vehicle-mounted equipment within multiple set road cycles, the change of acceleration can be determined for any acceleration according to the size relationship between the acceleration and the acceleration standard deviation, where the acceleration standard deviation is the standard deviation of the acceleration within multiple set road cycles, thereby determining the road state of the corresponding road according to the change of each acceleration. In this way, the road state can be determined based on the change of acceleration, which is conducive to intuitively and timely analyzing the state of the open-pit mine road, thereby assisting production personnel in scheduling decisions.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0025] Figure 1 A schematic diagram of a flow chart of a road state determination method provided by an embodiment of the present invention;

[0026] Figure 2 A schematic flow chart of another method for determining a road state provided by an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of the principle of a method for determining a road state in a scenario provided by an embodiment of the present invention;

[0028] Figure 4 A schematic diagram of road state analysis in a scenario provided by an embodiment of the present invention;

[0029] Figure 5 A schematic diagram of the structure of a road state determination device provided by an embodiment of the present invention;

[0030] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0031] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0032] In related technologies, open-pit coal mines use the following three technical solutions to sense the status of roads:

[0033] 1. Use the traditional bubble frame (strip) level and inclinometer detection method to determine the road slope

[0034] First, open the level and use a ruler to read the height control point. Then, place the ruler in the direction of the side point and read the height. One reading is for the rear view and the other is for the front view. Then, add the rear reading to the height of the control point and subtract the front reading to get the elevation of the road slope.

[0035] 2. In-vehicle communications

[0036] Using vehicle-to-vehicle communication technologies such as vehicle-to-vehicle communication (V2V) and vehicle-to-infrastructure communication (V2I), road status information can be transmitted. Vehicles can exchange information such as position, speed, and acceleration with each other, providing real-time traffic flow and road condition data.

[0037] 3. GPS (Global Positioning System) and Inertial Navigation System GPS can provide accurate location and speed information of the vehicle. Combined with the inertial navigation system, the location and movement trajectory of the vehicle can be tracked in real time. This information can be used to estimate traffic flow and analyze road conditions. First, GPS uses a GPS receiver to obtain the vehicle's location information, including longitude, latitude and altitude. Secondly, the position difference is calculated: the vehicle's current position and the later position are recorded, and the horizontal distance (road length) and altitude difference between the two positions are calculated. Then, the slope is calculated by dividing the altitude difference by the horizontal distance to obtain the slope of the road. In general, the slope can be expressed as a percentage or an angle. The percentage slope is equal to (altitude difference / horizontal distance) multiplied by 100, while the angle slope is equal to arctan (altitude difference / horizontal distance) multiplied by 180 / π.

[0038] However, the above technical solutions all have some disadvantages and challenges:

[0039] 1. Use the traditional bubble frame (strip) level and inclinometer detection method to determine the road slope

[0040] The former has a single function and a small measurement range; the latter cannot realize measurement under accelerated motion conditions and its application is greatly restricted.

[0041] 2. In-vehicle communications

[0042] This is a commonly used method to measure road conditions, which transmits road status information through vehicle-to-vehicle communication (V2V) and vehicle-to-infrastructure communication (V2I). However, there are also some disadvantages and challenges in measuring road conditions with vehicle-to-vehicle communication, including: ① Deployment and infrastructure requirements: Vehicle-to-vehicle communication requires the deployment of corresponding communication equipment and infrastructure in vehicles and road infrastructure. This requires considerable investment and technical support, and requires unified standards and specifications. Vehicle-to-vehicle communication measurements may not be possible in areas or on roads without a sound infrastructure. ② Coverage limitations: The coverage of vehicle-to-vehicle communications is limited, and the communication distance and transmission rate may be limited by signal strength and propagation environment. In remote areas or dense urban areas, communication signals may be unstable or unreachable, limiting the feasibility of road condition measurements.

[0043] 3. GPS and Inertial Navigation Systems

[0044] They can provide information about the vehicle's position, speed, and acceleration. However, these methods also have some disadvantages and challenges, including: ① Signal blocking: In some environments, such as urban areas with dense high-rise buildings, valleys, or dense forests, GPS signals may be blocked or reflected, resulting in reduced positioning accuracy or even failure to locate. Signal blocking affects the measurement of road conditions and may cause inaccurate data such as road slope and lane line position. ② Positioning error: GPS positioning accuracy may be affected by many factors, including antenna position, satellite geometry, multipath effect, etc. These factors increase the error of GPS positioning, thereby affecting the measurement results of road conditions. Especially in scenarios that require high-precision measurements, such as measuring subtle changes in road slope, positioning errors may have a significant impact on the measurement results. ③ Dynamic changes: Road conditions may change in a short period of time, such as temporary road conditions, traffic congestion, road construction, etc. The data update speed of GPS and inertial navigation systems is limited, and these dynamic changes may not be reflected in real time, resulting in delayed measurement results of road conditions.

[0045] In response to the above problems, the present invention provides a road status determination method, which can intuitively and timely analyze the status of open-pit mine roads by analyzing changes in acceleration size and direction, thereby assisting production personnel in making scheduling decisions.

[0046] The road state determination method, device and electronic device according to the embodiments of the present invention are described below with reference to the accompanying drawings.

[0047] Figure 1 A schematic flow chart of a road state determination method provided in an embodiment of the present invention.

[0048] like Figure 1 As shown, the road state determination method includes the following steps:

[0049] Step 101, obtaining the acceleration of a target vehicle-mounted device within a plurality of set road cycles.

[0050] Among them, the target vehicle-mounted equipment can be any vehicle-mounted equipment, such as an open-pit mine dump truck (mining truck) or an unmanned battery-swap heavy truck equipment, etc.

[0051] The set road cycle is a cycle based on the road length as a statistical standard, and the embodiment of the present invention does not limit the setting of the set road cycle. Optionally, the set road cycle can be set according to manual experience, for example, the set road cycle can be set to 10 meters, or the set road cycle can be dynamically adjusted according to actual application requirements, which is not limited in this embodiment.

[0052] As an example, it is assumed that the multiple set road periods are d1, d2, d3, ..., d i , then the acceleration of the target vehicle-mounted equipment in multiple set road cycles can be expressed as a1, a2, a3, ..., a i , where a1 is the acceleration of the target vehicle-mounted device in the first set road cycle, corresponding to d1; a2 is the acceleration of the target vehicle-mounted device in the second set road cycle, corresponding to d2; a3 is the acceleration of the target vehicle-mounted device in the third set road cycle, corresponding to d3; and so on, a i is the acceleration of the target vehicle-mounted equipment in the i-th set road cycle, and d i Corresponding.

[0053] In some embodiments, the acceleration of the target vehicle-mounted device in multiple set road cycles can be obtained through various public, legal, and compliant methods. For example, the acceleration of the target vehicle-mounted device in multiple set road cycles can be collected in real time, or the acceleration of the target vehicle-mounted device in multiple set road cycles can be obtained from other devices storing the acceleration of the target vehicle-mounted device in multiple set road cycles through network transmission or physical copying, or the acceleration of the target vehicle-mounted device in multiple set road cycles can be obtained through other public, legal, and compliant methods, which are not limited in this embodiment.

[0054] As a possible implementation method, an acceleration sensor and a positioning device can be installed on the target vehicle-mounted device, wherein the acceleration sensor is used to obtain the acceleration of the target vehicle-mounted device within multiple set road cycles, and the positioning device is used to locate the position of the target vehicle-mounted device to determine the position of each acceleration corresponding to the road. Therefore, the acceleration sensor can be used to obtain the acceleration of the target vehicle-mounted device within multiple set road cycles, and the positioning device can be used to determine the position of each acceleration corresponding to the road, so as to realize the recognition and analysis of the road state by combining the positioning information of the target vehicle-mounted device and the change of acceleration.

[0055] It should be noted that in the present invention, the road has been reproduced by using technologies such as map collection vehicles and vehicle trajectory editing, and can be displayed in a related system or platform, so that the location of the target vehicle-mounted device can be located using a positioning device to determine the location of the corresponding road. Optionally, the positioning information of the target vehicle-mounted device can be displayed in a related system or platform by means of real-time data transmission, which is not limited in this embodiment. Optionally, the positioning device can use a GPS locator.

[0056] Optionally, the acceleration sensor can be a MEMS acceleration sensor, which has low energy consumption, high sensitivity, high resonant frequency, small size, light weight, short response time, and low price. Its performance is comparable to that of traditional force feedback sensors. MEMS acceleration sensors have been widely used in earthquake monitoring due to their powerful advantages. Therefore, the present invention utilizes its advantages to more efficiently and accurately reflect the status of open-pit mine roads, thereby better guiding scheduling production.

[0057] After installing the MEMS acceleration sensor on the target vehicle-mounted device (i.e., performing hardware modification on the device), based on the working principle of the MEMS acceleration sensor (when it accelerates together with an external object, the mass block moves in the opposite direction due to inertia, and the capacitance between the fixed plate and the movable plate connected to the sensitive mass block will change accordingly. Measuring the change in the output voltage of the sensor is equivalent to measuring the displacement of the mass block), the displacement of the mass block in the MEMS acceleration sensor can be obtained. Since there is a related algorithm for acceleration-velocity-displacement conversion, measuring the displacement change is equivalent to measuring the acceleration of the target vehicle-mounted device where the MEMS acceleration sensor is installed. Among them, the related algorithm can be the Kanamori algorithm with q=0.9.

[0058] It should be noted that in the present invention, the terminal to which the MEMS acceleration sensor belongs can be connected to the relevant system or platform, so that the acceleration of the target vehicle-mounted equipment in multiple set road cycles obtained by installing the MEMS acceleration sensor can be transmitted to the relevant system or platform in real time for data analysis.

[0059] As an example, the MEMS acceleration sensor can be used to calculate the displacement and acceleration of the mass block in each set road cycle, assuming that the first set road cycle is d1, and the corresponding displacement and acceleration of the mass block are S1 and a1 respectively. Similarly, the i-th set road cycle is d i , the corresponding displacement and acceleration of the mass block are S i 、a i .

[0060] Step 102: for any acceleration, determine the change of the acceleration according to the magnitude relationship between the acceleration and the acceleration standard deviation.

[0061] The acceleration standard deviation is the standard deviation of acceleration within a plurality of set road cycles.

[0062] In the present invention, the acceleration standard deviation is used to measure the road condition (i.e., the road flatness). Within a certain distance (i.e., within several consecutive set road cycles n), the acceleration standard deviation σ can be expressed as follows:

[0063]

[0064]

[0065] Among them, a i represents the acceleration corresponding to the i-th set road cycle, that is, the acceleration of the target vehicle-mounted equipment in the i-th set road cycle, a n It represents the arithmetic mean of all accelerations within several consecutive set road cycles n.

[0066] In some embodiments, for any acceleration, the change in acceleration can be determined based on the magnitude relationship between the acceleration and the acceleration standard deviation. Optionally, for any acceleration, when the acceleration is greater than or equal to the negative acceleration standard deviation and less than or equal to the acceleration standard deviation, the change in acceleration can be determined as a small acceleration change, or when the acceleration is less than the negative acceleration standard deviation or greater than the acceleration standard deviation, the change in acceleration can be determined as a large acceleration change.

[0067] The acceleration change may include the acceleration continuously decreasing in the first time period and the acceleration continuously increasing in the second time period, so that when the acceleration is less than the negative acceleration standard deviation, the acceleration change is determined as the acceleration continuously decreasing in the first time period, or when the acceleration is greater than the acceleration standard deviation, the acceleration change is determined as the acceleration continuously increasing in the second time period. The first time period and the second time period may be any continuous time period in which the target vehicle-mounted device is in the set road cycle corresponding to the acceleration, and this is not limited in this embodiment.

[0068] Step 103: Determine the road state of the corresponding road according to the change of each acceleration.

[0069] In some embodiments, after determining the change of each acceleration, the road state of the corresponding road can be determined according to the change of each acceleration. Optionally, when the change of any acceleration is a small acceleration change, the road state of the corresponding road can be determined to be a good road condition, or when the change of any acceleration is a large acceleration change, the road state of the corresponding road can be determined to be a road condition where the road may be uneven, concave or protruding.

[0070] Among them, the situations where the road may be uneven, sunken or protruded may include the situation where the road has an upward slope and the road has a downward slope, so that when any acceleration change is that the acceleration continues to decrease within a first time period, the road state of the corresponding road is determined to be the road with an upward slope, or, when any acceleration change is that the acceleration continues to increase within a second time period, the road state of the corresponding road is determined to be the road with a downward slope.

[0071] In summary, in the present invention, if within a certain distance (i.e. within a set road cycle), the acceleration a i If the acceleration of the target vehicle equipment is in [-σ, σ], it means that the acceleration of the target vehicle equipment is small when it is driving on this road, which means that there is no obvious ups and downs on the road, that is, there is no obvious road undulation. Therefore, there is a reasonable reason to infer that the road condition is good. If the acceleration a is within a certain distance (i.e. within a set road cycle), i If it is not in [-σ, σ], it means that the acceleration of the target vehicle equipment varies greatly when it is driving on this road. It can be inferred that the road may be uneven, concave or protruding. If the acceleration a is within a certain distance (i.e. within a set road cycle), i>σ, indicating that the target vehicle-mounted equipment is driving on this road, and there is a continuous period of time in which the acceleration continues to increase, indicating that the speed per unit time increases. It is possible that the road has a downward slope, and the dump truck is moving downhill; if within a certain distance (i.e. within a set road cycle), the acceleration a i <-σ, indicating that the acceleration of the target vehicle-mounted equipment continues to decrease during a certain period of time when it is traveling on this road, indicating that the speed decreases per unit time. It is possible that the road has an upward slope and the dump truck is climbing the slope.

[0072] The road state determination method provided in this embodiment obtains the acceleration of the target vehicle-mounted equipment within multiple set road cycles, and determines the change of acceleration for any acceleration according to the magnitude relationship between the acceleration and the acceleration standard deviation, wherein the acceleration standard deviation is the standard deviation of the acceleration within multiple set road cycles, thereby determining the road state of the corresponding road according to the change of each acceleration. In this way, the road state can be determined based on the change of acceleration, which is conducive to intuitively and timely analyzing the state of the open-pit mine road, thereby assisting production personnel in making scheduling decisions.

[0073] It should be noted that, in the present invention, in addition to determining the road state based on the acceleration change, the road slope can also be estimated when the road has a slope, and production scheduling can be assisted based on the above information. Figure 2 , which explains this process.

[0074] Figure 2 A schematic flow chart of another method for determining a road state provided in an embodiment of the present invention.

[0075] like Figure 2 As shown, the road state determination method may include the following steps:

[0076] Step 201, obtaining the acceleration of the target vehicle-mounted device within a plurality of set road cycles.

[0077] Step 202: for any acceleration, determine the change of the acceleration according to the magnitude relationship between the acceleration and the acceleration standard deviation.

[0078] Step 203: Determine the road state of the corresponding road according to the change of each acceleration.

[0079] It should be noted that the execution process of steps 201-203 may specifically refer to steps 101-103 in the previous embodiment, and the principles are the same, which will not be repeated here.

[0080] Step 204 , when it is determined that the road state of the corresponding road is that the road has an upward slope or a downward slope, the road slope is estimated by using a Kalman filter algorithm.

[0081] In some embodiments, when it is determined that the road state of the corresponding road is that the road has an upward slope or a downward slope, the road slope can be estimated by using a Kalman filter algorithm according to the corresponding acceleration. Since using a Kalman filter algorithm to estimate the ramp angle is a relatively mature technology, it will not be described in detail in the present invention.

[0082] Step 205, assisting production scheduling work based on the determined road state, or the determined road state and the estimated road slope.

[0083] Among them, production scheduling work includes auxiliary equipment binding, road equipment scheduling, and safety warning.

[0084] In some embodiments, the auxiliary equipment in the engineering area can be more objectively and scientifically bound according to the determined road conditions. For example, if a dump truck driving on a road bound to a certain engineering area has a significant change in acceleration at a certain moment or for a certain period of time, but the duration is short, that is, there is an uneven road, a dent or a protrusion, then the auxiliary equipment in the engineering area can be more timely and scientifically bound and adjusted in real time, so that the adjustment has a basis and is more in line with the actual on-site work, thereby improving work efficiency.

[0085] In some embodiments, mining equipment can also be intelligently dispatched according to the determined road state, or the determined road state and the estimated road slope. For example, a road with a large acceleration change on which the equipment has traveled indicates that its road state is complex. If it does not affect safety, the dump truck can be dispatched to other roads in good condition to ensure production and thus improve efficiency. For another example, the real-time grouping relationship can be adjusted according to the determined road state and the estimated road slope to provide the optimal grouping according to the actual road conditions in the mine.

[0086] In some embodiments, auxiliary safety warnings can also be performed based on the determined road conditions and estimated road slopes. For example, electronic fences can be drawn on roads with high driving risk factors based on the determined road conditions and estimated road slopes, and driving vehicles can be screened or their speeds can be limited, thereby improving mine safety production.

[0087] The road state determination method provided in this embodiment estimates the road slope through the Kalman filter algorithm when the road state of the corresponding road is determined to be a road with an upward slope or a road with a downward slope, thereby assisting production scheduling according to the determined road state, or the determined road state and the estimated road slope. Thus, conditions for road construction and scheduling route determination can be provided for production scheduling personnel, management personnel, etc., which helps to improve the working environment of relevant personnel, reduce redundant time for on-site road surveys, and improve work efficiency.

[0088] In order to clearly illustrate the above embodiment, an example is now given for illustration.

[0089] Figure 3 The following is a schematic diagram of the principle of a method for determining a road state in a scenario provided by an embodiment of the present invention. Figure 3 As shown, the scene road state determination method may include the following steps:

[0090] Step 301, installing an acceleration sensor and a GPS locator on the vehicle side.

[0091] In this embodiment, a MEMS acceleration sensor is installed on the vehicle side, such as an open-pit mine dump truck (mining truck) or an unmanned battery-changing heavy truck. The reason for selecting the MEMS acceleration sensor is that the MEMS acceleration sensor has low energy consumption, high sensitivity, high resonance frequency, small size, light weight, short response time, and low price. Its performance is comparable to that of traditional force feedback sensors. In addition, MEMS acceleration sensors have been widely used in earthquake monitoring due to their powerful advantages. Therefore, the present invention can use its advantages to more efficiently and accurately reflect the road status of open-pit mines, thereby better guiding scheduling production.

[0092] Step 302: Obtain acceleration change information.

[0093] The working principle of the MEMS accelerometer is: when it accelerates together with an external object, the mass block moves in the opposite direction due to inertia, and the capacitance between the fixed plate and the movable plate connected to the sensitive mass block will change accordingly. Measuring the change in the sensor output voltage is equivalent to measuring the displacement of the mass block. Since there is a related algorithm for acceleration-velocity-displacement conversion, measuring the displacement change is equivalent to measuring the acceleration of the target vehicle-mounted device where the MEMS accelerometer is installed. Among them, the related algorithm can be the Kanamori algorithm with q=0.9.

[0094] Therefore, after installing the MEMS sensor, the acceleration change of the device on the road can be obtained according to the above principle. In addition, because the terminal to which the vehicle-mounted sensor belongs is connected to the cloud platform of the integrated management and control platform in this embodiment, the acceleration change of the device can be transmitted to the platform in real time for data analysis.

[0095] Step 303, identifying the road status by combining the GPS positioning information and the acceleration information.

[0096] First, in this embodiment, the roads in the open-pit mine have been reproduced through technologies such as map collection vehicles and vehicle trajectory editing, and are displayed in a mine map (mining planning and design) and a comprehensive production command cloud platform in the smart mine comprehensive management and control platform. At the same time, based on the GPS positioning system of the vehicle terminal in this embodiment, its vehicle location information can be displayed on the map of the cloud platform through real-time data transmission. Therefore, the road status is identified and analyzed in combination with the vehicle GPS positioning information, the location information of the road itself, and the acceleration change information sensed by the sensors installed on the equipment. The analysis process is as follows:

[0097] (1) Analyze acceleration data information

[0098] According to the acceleration changes transmitted by the vehicle-mounted terminal installed sensor collected in the above step 302 and combined with the specific GPS positioning information of the vehicle, the following analysis can be performed according to different situations:

[0099] ① If the vehicle's acceleration changes little when traveling on a section of road, it means that there are no obvious ups and downs on the road, that is, no obvious road undulations. Therefore, there is a reasonable reason to infer that the road condition is good;

[0100] ② If the vehicle is driving on the road and there is a significant change in acceleration at a certain moment or for a certain period of time, but the duration is short, it means that there is a significant road undulation at a certain point or section of the relevant road, but the duration is short. It can be inferred that the road may be uneven, sunken or protruding;

[0101] ③ If the vehicle is driving on the road and the acceleration keeps decreasing in a certain continuous period of time, it means that the speed is decreasing per unit time. It is possible that there is an upward slope on a certain section of the road and the dump truck is climbing the slope.

[0102] ④ If the vehicle is traveling on the road and the acceleration continues to increase within a certain continuous period of time, it means that the speed increases per unit time. There may be a downward slope on a certain section of the road, and the dump truck is moving downhill.

[0103] The quantitative calculation can be performed as follows:

[0104] First, when the installed sensor moves with the external object under acceleration, the capacitance between the fixed plate and the movable plate connected to the sensitive mass block will change accordingly. Measuring the change in the sensor output voltage is equivalent to measuring the displacement of the mass block, which is recorded as S. i At the same time, the relationship between displacement and acceleration can be calculated based on relevant algorithms, such as the Kanamori algorithm with q = 0.9, and the corresponding acceleration is a i ;

[0105] Secondly, the displacement and acceleration of the mass block in each set road cycle are calculated using the sensor every 10 meters as a set road cycle. Assuming that the first set road cycle is d1, the displacement and acceleration of the corresponding mass block are S1 and a1 respectively. Similarly, the i-th set road cycle is d i , the corresponding displacement and acceleration of the mass block are S i 、a i ;

[0106] Therefore, the acceleration standard deviation is used to measure the state of the road (i.e., the smoothness of the road). Within a certain distance (i.e., within several consecutive road cycles n), the acceleration standard deviation σ can be expressed as follows:

[0107]

[0108]

[0109] Among them, a i represents the acceleration corresponding to the i-th set road cycle, that is, the acceleration of the target vehicle-mounted equipment in the i-th set road cycle, a n It represents the arithmetic mean of all accelerations within several consecutive set road cycles n.

[0110] Based on the above calculation, the acceleration standard deviation σ within a certain distance (i.e., within several consecutive road cycles n) can be quantified using the statistical normal distribution diagram as follows:

[0111] If within a certain distance (i.e. within a set road cycle), the acceleration a i Located in [-σ, σ], it means that the acceleration change is small, and there is reasonable reason to infer that the road condition is good;

[0112] If within a certain distance (i.e. within a set road cycle), the acceleration a i If it is not located in [-σ, σ], it means that the acceleration changes greatly, and it can be inferred that the road may be uneven, sunken or protruding.

[0113] If within a certain distance (i.e. within a set road cycle), the acceleration a i >σ, indicating that the acceleration continues to increase within a certain continuous period of time, indicating that the speed per unit time increases. It is possible that a certain section of the road has a downward slope, and the dump truck is moving downhill;

[0114] If within a certain distance (i.e. within a set road cycle), the acceleration a i <-σ, indicating that the acceleration keeps decreasing within a certain continuous period of time, indicating that the speed decreases per unit time. It is possible that there is an upward slope on a certain section of the road, and the dump truck is climbing the slope.

[0115] In order to more clearly illustrate the above-mentioned situations, the present embodiment provides Figure 4 The road status analysis diagram is shown in Figure 1. Figure 4 As shown, it can be determined whether there is a significant change in acceleration. If not, it means that the road condition is good. If so, the duration of the significant change in acceleration is determined. If the duration is short, it means that the road is uneven, there are depressions or protrusions. If the duration is long, it means that the road has a slope. There are two situations: 1. The acceleration continues to decrease, and the road has an upward slope; 2. The acceleration continues to increase, and the road has a downward slope.

[0116] (2) Quantitative identification of road conditions (i.e. road slope)

[0117] According to the acceleration changes in the MEMS acceleration sensor installed in the vehicle terminal collected in step 302, the vehicle mass and road slope algorithm can be estimated through the discrete Kalman filter, so that not only the road state can be analyzed, but also the specific slope can be calculated and quantified through the algorithm. (The process of the discrete Kalman filter algorithm is not presented in detail here.)

[0118] Step 304, assisting in production scheduling.

[0119] In this embodiment, the above information can be used to guide the production scheduling of the open-pit mine and assist in the production scheduling work, which is specifically reflected in the following aspects:

[0120] (1) Safety responsibility zone auxiliary vehicle binding

[0121] During the work of open-pit mines, the engineering area will be set according to the location of the electric shovel. Different engineering areas will include an indefinite number of electric shovels and related roads near the electric shovels. Auxiliary equipment may be bound for different engineering areas. For example, when auxiliary tasks such as road repair and site leveling appear in the engineering area, the bound engineering auxiliary equipment will perform the related work.

[0122] Therefore, the auxiliary equipment in the engineering area can be bound more objectively and scientifically based on the road status information identified by the acceleration sensor. For example, if the acceleration of a dump truck passing through the road bound to a certain engineering area changes significantly at a certain moment or for a certain period of time, but the duration is short, that is, there is an uneven road, depression or protrusion, then the auxiliary equipment in the engineering area can be scientifically bound and adjusted in real time in a more timely manner, so that the adjustment has a basis and is more in line with the actual on-site work, thereby improving work efficiency.

[0123] (2) Assisted dispatching of mining equipment

[0124] In this embodiment, the acceleration information provided by the acceleration sensor can not only sense the road state, but also calculate the road slope according to the relevant algorithm (Kalman filter algorithm). Therefore, the mining equipment can be dispatched according to the road state information. For example, the road where the equipment has traveled with a large acceleration change indicates that its road state is complex. If it does not affect safety, the dump truck can be dispatched to other roads with good conditions to ensure production and improve efficiency. At the same time, the real-time marshaling relationship can also be adjusted according to the road conditions.

[0125] (3) Assisted intelligent scheduling

[0126] In this embodiment, the acceleration information provided by the acceleration sensor can not only sense the road state, but also calculate the road slope according to the relevant algorithm (Kalman filter algorithm). This road slope data can be used as an input condition for the intelligent scheduling algorithm, and the algorithm can assist in providing the optimal grouping according to the road state and the specific slope of the road.

[0127] (4) Auxiliary safety warning

[0128] In this embodiment, based on the road conditions identified by the installed acceleration sensor and the road slope calculated by the relevant algorithm (Kalman filter algorithm), electronic fences can be drawn on roads with higher driving risks, and the driving vehicles can be screened or the vehicle speed can be restricted, thereby improving the safety of mine production.

[0129] In summary, by installing sensors with low energy consumption, high sensitivity, high resonant frequency, small size, light weight, short response time, low price and high performance on the vehicle-side equipment, the vehicle acceleration can be calculated and analyzed, and the relevant algorithms can be used in combination with the vehicle GPS positioning information to intuitively and timely analyze the status of the open-pit mine road through the changes in acceleration size and direction, thereby assisting production personnel in making scheduling decisions. For example, for roads in poor condition, the road network on the cloud platform is displayed, so that relevant staff can use this information to bind related auxiliary vehicles to the relevant safety responsibility areas to assist in production scheduling.

[0130] In order to implement the above embodiment, the present invention also proposes a road state determination device.

[0131] Figure 5 A schematic diagram of the structure of a road state determination device provided in an embodiment of the present invention.

[0132] like Figure 5 As shown, the road state determination device includes: an acquisition module 51, a first determination module 52 and a second determination module 53.

[0133] An acquisition module 51 is used to acquire the acceleration of the target vehicle-mounted device within a plurality of set road cycles;

[0134] The first determination module 52 is used to determine the change of acceleration according to the magnitude relationship between the acceleration and the acceleration standard deviation for any acceleration; wherein the acceleration standard deviation is the standard deviation of the acceleration within a plurality of set road cycles;

[0135] The second determination module 53 is used to determine the road state of the corresponding road according to the change of each acceleration.

[0136] Furthermore, in a possible implementation of the embodiment of the present invention, the first determining module 52 is further configured to:

[0137] For any acceleration, when the acceleration is greater than or equal to the negative acceleration standard deviation and less than or equal to the acceleration standard deviation, the change of acceleration is determined to be a small acceleration change;

[0138] When the acceleration is smaller than the negative acceleration standard deviation, or larger than the acceleration standard deviation, it is determined that the acceleration change is large.

[0139] Further, in a possible implementation of the embodiment of the present invention, the large change in acceleration includes that the acceleration continues to decrease in the first time period and that the acceleration continues to increase in the second time period; the first determining module 52 is further used to:

[0140] When the acceleration is less than the negative acceleration standard deviation, determining that the change in acceleration is that the acceleration continues to decrease within the first time period;

[0141] When the acceleration is greater than the acceleration standard deviation, it is determined that the change in acceleration is that the acceleration continues to increase within the second time period.

[0142] Further, in a possible implementation manner of the embodiment of the present invention, the second determining module 53 is further configured to:

[0143] When any acceleration change is a small acceleration change, it is determined that the road state of the corresponding road is a good road state;

[0144] In the case where any acceleration change is a large acceleration change, it is determined that the road state of the corresponding road is that the road may be uneven, concave or protruding.

[0145] Further, in a possible implementation of the embodiment of the present invention, the road may be uneven, sunken or protruding, including the road having an upward slope and the road having a downward slope; the second determining module 53 is further used to:

[0146] In the case where any acceleration change is that the acceleration continues to decrease within the first time period, determining that the road state of the corresponding road is that the road has an upward slope;

[0147] In the case where any acceleration change is that the acceleration continues to increase within the second time period, it is determined that the road state of the corresponding road is that the road has a downward slope.

[0148] Furthermore, in a possible implementation of an embodiment of the present invention, an acceleration sensor and a positioning device are installed on the target vehicle-mounted device, wherein the acceleration sensor is used to obtain the acceleration of the target vehicle-mounted device within a plurality of set road cycles, and the positioning device is used to locate the position of the target vehicle-mounted device to determine the position of the road corresponding to each acceleration.

[0149] Furthermore, in a possible implementation of the embodiment of the present invention, the above-mentioned device further includes:

[0150] The estimation module is used to estimate the road slope by using a Kalman filter algorithm when it is determined that the road state of the corresponding road is that the road has an upward slope or a downward slope.

[0151] Furthermore, in a possible implementation of the embodiment of the present invention, the above-mentioned device further includes:

[0152] The scheduling module is used to assist in production scheduling based on the determined road status, or the determined road status and the estimated road slope; wherein the production scheduling work includes auxiliary equipment binding, road equipment scheduling, and safety warning.

[0153] It should be noted that the above explanation of the embodiment of the road state determination method is also applicable to the road state determination device of this embodiment, and will not be repeated here.

[0154] The road state determination device provided in this embodiment obtains the acceleration of the target vehicle-mounted equipment within multiple set road cycles, and determines the change of acceleration for any acceleration according to the magnitude relationship between the acceleration and the acceleration standard deviation, wherein the acceleration standard deviation is the standard deviation of the acceleration within multiple set road cycles, thereby determining the road state of the corresponding road according to the change of each acceleration. In this way, it is possible to determine the road state based on the change of acceleration, which is conducive to intuitively and timely analyzing the state of the open-pit mine road, thereby assisting production personnel in making scheduling decisions.

[0155] In order to implement the above embodiments, the present invention also proposes an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the road state determination method proposed in any of the above embodiments of the present invention.

[0156] In order to implement the above embodiments, the present invention further proposes a computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the road state determination method proposed in any of the above embodiments of the present invention.

[0157] In order to implement the above embodiments, the present invention further proposes a computer program product, including a computer program, which, when executed by a processor, implements the road state determination method proposed in any of the above embodiments of the present invention.

[0158] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0159] It should be noted that Figure 6 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0160] like Figure 6 As shown, the electronic device includes:

[0161] A memory 61 , a processor 62 , and a computer program stored in the memory 61 and executable on the processor 62 .

[0162] When the processor 62 executes the program, the road state determination method provided in any of the above embodiments is implemented.

[0163] Furthermore, the electronic device further comprises:

[0164] The communication interface 63 is used for communication between the memory 61 and the processor 62 .

[0165] The memory 61 is used to store computer programs that can be executed on the processor 62 .

[0166] The memory 61 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0167] The processor 62 is used to implement the road state determination method described in any of the above embodiments when executing the program.

[0168] If the memory 61, the processor 62 and the communication interface 63 are implemented independently, the communication interface 63, the memory 61 and the processor 62 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0169] Optionally, in a specific implementation, if the memory 61, the processor 62 and the communication interface 63 are integrated on a chip, the memory 61, the processor 62 and the communication interface 63 can communicate with each other through an internal interface.

[0170] The processor 62 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0171] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0172] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0173] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0174] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0175] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0176] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0177] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0178] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A method for determining a road state, characterized in that: include: Obtaining the acceleration of the target vehicle-mounted equipment within a plurality of set road cycles; For any of the accelerations, the change of the acceleration is determined according to the magnitude relationship between the acceleration and the acceleration standard deviation; wherein the acceleration standard deviation is the standard deviation of the acceleration within a plurality of set road cycles; The road state of the corresponding road is determined according to the change of each acceleration.

2. The method according to claim 1, characterized in that The step of determining, for any of the accelerations, a change in the acceleration according to a magnitude relationship between the acceleration and the acceleration standard deviation, includes: For any of the accelerations, when the acceleration is greater than or equal to the negative acceleration standard deviation and less than or equal to the acceleration standard deviation, determining that the change in the acceleration is a small acceleration change; When the acceleration is smaller than the negative acceleration standard deviation, or larger than the acceleration standard deviation, it is determined that the change in the acceleration is a large acceleration change.

3. The method according to claim 2, characterized in that The large change in acceleration includes the acceleration continuously decreasing in the first time period and the acceleration continuously increasing in the second time period; When the acceleration is less than the negative acceleration standard deviation, or greater than the acceleration standard deviation, determining that the acceleration change is a large acceleration change includes: When the acceleration is less than the negative acceleration standard deviation, determining that the change in the acceleration is that the acceleration continues to decrease within the first time period; When the acceleration is greater than the acceleration standard deviation, it is determined that the change in the acceleration is that the acceleration continues to increase within a second time period.

4. The method according to claim 3, characterized in that Determining the road state of the corresponding road according to the change of each acceleration includes: In the case where any of the acceleration changes is a small acceleration change, determining that the road state of the corresponding road is a good road state; In the case where any of the acceleration changes is a large acceleration change, it is determined that the road state of the corresponding road is that the road may be uneven, concave or protruding.

5. The method according to claim 4, characterized in that The situation that the road may be uneven, sunken or protruded includes that the road has an upward slope and that the road has a downward slope; when any of the acceleration changes is a large acceleration change, determining that the road state of the corresponding road is that the road may be uneven, sunken or protruded includes: In the case where any of the acceleration changes is that the acceleration continues to decrease within the first time period, determining that the road state of the corresponding road is that the road has an upward slope; In the case where any of the acceleration changes shows that the acceleration continues to increase within the second time period, it is determined that the road state of the corresponding road is that the road has a downward slope.

6. The method according to any one of claims 1 to 5, characterized in that: The target vehicle-mounted device is equipped with an acceleration sensor and a positioning device, wherein the acceleration sensor is used to obtain the acceleration of the target vehicle-mounted device within a plurality of set road cycles, and the positioning device is used to locate the position of the target vehicle-mounted device to determine the position of each acceleration corresponding to the road.

7. The method according to claim 6, characterized in that The method further comprises: When it is determined that the road state of the corresponding road is that the road has an upward slope or a downward slope, the road slope is estimated by using a Kalman filter algorithm.

8. The method according to claim 7, characterized in that The method further comprises: According to the determined road status, or the determined road status and the estimated road slope, assist in production scheduling; wherein the production scheduling work includes auxiliary equipment binding, road equipment scheduling, and safety warning.

9. A road state determination device, characterized in that: include: An acquisition module, used to acquire the acceleration of the target vehicle-mounted equipment within a plurality of set road cycles; A first determination module is used to determine the change of the acceleration according to the magnitude relationship between the acceleration and the acceleration standard deviation for any of the accelerations; wherein the acceleration standard deviation is the standard deviation of the acceleration within a plurality of set road cycles; The second determination module is used to determine the road state of the corresponding road according to the change of each acceleration.

10. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 8.

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