Road roller route planning method and system

Abstract

The invention relates to a road roller route planning method and system, and belongs to the technical field of road rollers. The method comprises the steps of obtaining a construction map of a construction area, and drawing a working area on the construction map; the working area is divided into a plurality of quadrilateral areas, for each quadrilateral area, a plurality of passing points are set on the first side and the second side, and a starting point and an ending point are set on the first side or the second side; alternately passing through the passing points on the first edge and the second edge from the starting point until reaching the end point to obtain an outbound route; determining a rolling blind area according to the going route and the width of the road roller; on the basis of the rolling blind area, each passing point is deviated by a preset value, and a return route is obtained through planning; and the going route and the returning route are sent to a road roller terminal, and a road roller carries out rolling operation according to the going route and the returning route until the compaction degree of the working area reaches a preset value. According to the method, the route is automatically generated through a specific rule, the rolling blind area can be avoided, and the rolling efficiency is high.

Description

Technical Field

[0001] The present invention relates to a road roller route planning method and system, belonging to the technical field of road rollers. Background Art

[0002] Red mud is an industrial solid waste discharged after extracting alumina from bauxite, which seriously pollutes the environment. China produces a large amount of red mud every year, about more than 30 million tons. At present, the common treatment method for red mud is the stacking method. Generally, the generated red mud is transported to an area convenient for stacking. In order to increase the stacking volume of the red mud pile in a certain area, it is necessary to use a road roller to roll the red mud pile to improve the stacking volume of red mud per unit area as much as possible. In the process of implementing the present invention, the inventor found that the main problems in the existing technology are as follows: The task planning, operation route design, task distribution and other processes of the existing operation technology mainly rely on the experience of operators and manual communication methods. The task planning and distribution efficiency is low, and the operation route design error is large. Summary of the Invention

[0003] The purpose of the present invention is to provide a road roller route planning method and system. By dividing the working area into multiple quadrilateral areas and using the quadrilateral areas as the rolling units, each quadrilateral area is rolled by a road roller. For each quadrilateral area, two opposite sides are selected to plan the driving route for reciprocating movement between the two opposite sides. The shape of the quadrilateral itself is conducive to the generation of this reciprocating Z-shaped route, and by re-planning the return route, the appearance of rolling blind spots can be avoided, and the rolling efficiency is high.

[0004] To solve the above technical problems, the present invention is implemented by the following technical solutions: In the first aspect, the present invention provides a road roller route planning method, which includes: Obtain the construction map of the construction area, collect the coordinates of each inflection point of the working area to be compacted on the construction map, and draw the working area according to the coordinates of each inflection point; Divide the working area into multiple quadrilateral areas; for each quadrilateral area, select two opposite sides as the first side and the second side, and set multiple passing points on the first side and the second side respectively, and use the passing points on the outermost sides of the first side or the second side as the starting point and the ending point; Start from the starting point and alternately pass through the passing points on the first side and the second side until reaching the ending point to obtain the forward route; Determine the forward rolling area according to the forward route and the width of the road roller, and determine the rolling blind spot according to the working area and the forward rolling area; Based on the rolling blind area, each passing point except the starting point is respectively offset by a preset value, and starting from the offset end point, the passing points on the first side and the second side are alternately passed through until the starting point is reached, so as to obtain a return route; Send the outbound route and the return route to the roller terminal, and the roller repeats rolling according to the outbound route and the return route until the compactness of the working area reaches a preset threshold.

[0005] Optionally, the obtaining of the construction map of the construction area includes: Using a drone to collect multi-view images of the mining area; Using the multi-view images to construct a three-dimensional map of the mining area; Performing correction and cutting on the three-dimensional map to obtain the construction map.

[0006] Optionally, performing correction and cutting on the three-dimensional map includes deleting fine components, repairing holes, and cutting according to the range of the mining area.

[0007] Optionally, the dividing of the working area into a plurality of quadrilateral areas includes: If the working area is a polygon area, dividing lines are drawn in the polygon area to divide it into a plurality of quadrilateral areas; If the working area is a closed figure with a curved side, fitting the closed figure into a polygon area, and then drawing dividing lines in the polygon area to divide it into a plurality of quadrilateral areas.

[0008] Optionally, the fitting principle of fitting the closed figure into a polygon area is a polygon area that includes the entire working area and minimizes the area.

[0009] Optionally, the distances from the outermost passing points on the first side and the second side to the adjacent inflection points are both less than or equal to the width of the roller.

[0010] Optionally, the intervals between adjacent passing points on the first side or the second side are the same, and the interval is a preset ratio of the entire side length. The outbound route and the return route both sequentially pass through the respective passing points on the first side and the second side along the driving direction.

[0011] Optionally, the compactness is measured by a compactness sensor.

[0012] Optionally, the compactness sensor is arranged in the rolling blind area.

[0013] In a second aspect, the present invention provides a roller route planning system, which includes: An acquisition module, configured to acquire a construction map of a construction area, collect the coordinates of each inflection point of a working area to be compacted on the construction map, and draw the working area according to the coordinates of each inflection point; A setting module, configured to divide the working area into a plurality of quadrilateral areas; for each quadrilateral area, select two opposite sides as the first side and the second side, set a plurality of passing points on the first side and the second side respectively, and use the passing points on the outermost sides of the first side or the second side as the starting point and the ending point; An outbound route planning module, configured to start from the starting point and alternately pass through the passing points on the first side and the second side until reaching the ending point to obtain an outbound route; A blind area determination module, configured to determine an outbound rolling area according to the outbound route and the width of the roller, and determine a rolling blind area according to the working area and the outbound rolling area; A return route planning module, configured to, based on the rolling blind area, offset each passing point except the starting point by a preset value, and start from the offset ending point and alternately pass through the passing points on the first side and the second side until reaching the starting point to obtain a return route; An instruction module, configured to send the outbound route and the return route to a roller terminal, and the roller repeats rolling according to the outbound route and the return route until the compactness of the working area reaches a preset threshold.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention divides the working area to be compacted into a plurality of quadrilateral areas, plans the rolling route for each quadrilateral area separately, and combines the characteristics of the quadrilateral, selects two opposite sides to set a plurality of passing points, so as to plan the outbound route by using a plurality of passing points. During the return journey, the position of the passing points is offset and adjusted based on the rolling blind area of the outbound journey, so that the rolling blind area during the outbound journey can be covered during the return journey. The rolling route planned by the present invention is simple and convenient for the driver to drive according to the route, and at the same time can ensure that the rolling area covers the entire working area, and the operation is reliable and convenient. Description of the Drawings

[0015] Figure 1 It is a flowchart of the roller route planning method in Embodiment 1; Figure 2 It is a schematic diagram of the division of the working area in Embodiment 1; Figure 3 It is another schematic diagram of the division of the working area in Embodiment 1; Figure 4 It is another schematic diagram of the division of the working area in Embodiment 1; Figure 5 It is a trajectory schematic diagram of the planned outbound route and return route in Embodiment 1. Detailed implementation manners

[0016] It should be noted that: The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. Without conflict, the technical features in the embodiments of the present invention and the embodiments can be combined with each other.

[0017] The term "and / or" is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " generally represents an "or" relationship between the front and rear associated objects. Embodiment 1

[0018] Combined with Figure 1 , this embodiment introduces a route planning method for a roller, and the method includes: Step S1: Obtain a construction map of the construction area, collect the coordinates of each inflection point of the working area to be compacted on the construction map, and draw the working area according to the coordinates of each inflection point; In the actual working process, the method for obtaining the construction map includes: using a drone to collect multi-view images of the mining area; using the multi-view images to construct a three-dimensional map of the mining area; correcting and cropping the three-dimensional map to obtain the construction map. In a specific embodiment, correcting and cropping the three-dimensional map includes deleting fine components, repairing holes, and cropping according to the range of the mining area. Since the accuracy of the plane map is relatively low, generally at the meter level, and the accuracy of the high-precision three-dimensional map is high, up to the centimeter level, and the accuracy required by the planning method in this embodiment is high, so the high-precision three-dimensional map is selected. The inflection point coordinates are directly taken as the plane coordinates on the plane coordinate system (xy axis), and multiple inflection points enclose the working area of the roller on the plane.

[0019] Step S2: Divide the working area into multiple quadrilateral areas. For each quadrilateral area, select two opposite sides as the first side and the second side, set multiple passing points on the first side and the second side respectively, and use the passing points on the outermost sides of the first side or the second side as the starting point and the ending point; Specifically, combined with Figure 2 , in actual operation, the working area may be a quadrilateral, then it can be directly processed as a quadrilateral area. At the same time, the working area may also be an irregular polygon or a closed figure with a curved side. If the working area is a polygon, dividing lines are drawn in the polygon area to divide the working area into multiple quadrilateral areas. Combined with Figure 3, taking the rolling area as a pentagon a 1 a 2 a 3 a 4 a 5 as an example, create points on line segment a 1 a 2 and connect the two points a 6 a 5、 a 6 . The line segment a 5 a 6 will divide the pentagon area a 1 a 2 a 3 a 4 a 5 into two quadrilateral areas.

[0020] If the working area is a closed figure with a curved side, fit the closed figure into a polygon area and then divide it into multiple quadrilateral areas. The fitting principle for fitting the closed figure into a polygon is a polygon that contains the entire working area and minimizes the area. Combining Figure 4 , taking the closed R figure with a curved side as the boundary of the drawn area as an example, fit the R figure into the smallest polygon area including the closed figure, divide the polygon area into 3 quadrilateral areas, and design the route for each quadrilateral area as a rolling unit respectively.

[0021] In a specific embodiment, the distances between the inflection points with the closest distances on the outermost sides of the first side and the second side are both less than or equal to the width of the roller. Such a setting can enable the roller to start from the boundary of the working area to cover more rolling areas.

[0022] In another specific embodiment, the intervals between multiple passing points on the first side or the second side are the same, and the interval is a preset ratio 1 / n of the entire side length. The specific value of n should first ensure that the roller has enough space to turn around, and on this premise, a suitable value can be selected according to the size of the working area and the width of the roller.

[0023] Step S3: Starting from the starting point, alternately pass through the passing points on the first side and the second side until reaching the end point to obtain the outbound route; Through such a planning method, a "Z"-shaped outbound route can be planned. On the one hand, the route trajectory of this form is convenient for the roller to turn. On the other hand, the irregular quadrilateral is conducive to the generation of the "Z"-shaped route trajectory, and the covered rolling area is large, and the compaction effect is good. In actual operation, usually the outbound route passes through each passing point on the first side in sequence along the extension direction of the first side, and passes through each passing point on the second side in sequence along the extension direction of the second side.

[0024] Step S4: Obtain the forward rolling area according to the forward route and the width of the roller, and determine the rolling blind area according to the working area and the forward rolling area; Understandably, multiplying the forward route by the width of the roller can obtain the forward rolling area where the roller travels along the forward route. Usually limited by the size of the roller itself, the forward rolling area cannot completely cover the entire working area, and there will be a rolling blind area. However, the actual working requirement is that the compaction degree of the entire working area should meet the requirements, and the appearance of the rolling blind area is not allowed. In this embodiment, to solve the problem of the rolling blind area, the return route is adaptively planned to roll the rolling blind area during the return process.

[0025] Step S5: Based on the rolling blind area, offset each passing point except the starting point by a preset value, and start from the offset end point and alternately pass through the passing points on the first side and the second side until reaching the starting point, so as to obtain the return route and make the return rolling area cover the rolling blind area; During the actual operation process, subtracting the forward rolling area from the working area can obtain the specific range of the rolling blind area. Since the forward route in this embodiment reciprocates between the relatively first side and the second side of the quadrilateral area, the rolling blind area usually exists between adjacent trajectories. Therefore, in this embodiment, by offsetting each passing point except the starting point by a preset value, the entire return route can be changed. The specific value offset by each passing point needs to be set according to the rolling blind area. The system can pre-draw the return rolling area in combination with the width of the roller according to the planned return route, and then by adjusting the offset values of each passing point, a return route that can cover the rolling blind area can be finally obtained to ensure that the entire working area can be sufficiently rolled. And because the starting point and the end point in this embodiment are both set at positions close to the inflection point (the distance is less than or equal to the width of the roller), if the starting point is offset, it may move outside the side line. Therefore, in some specific embodiments, the starting point is not offset. In actual operation, usually the return route passes through each passing point on the first side in sequence along the extension direction of the first side, and passes through each passing point on the second side in sequence along the extension direction of the second side. Combining Figure 5 , the trajectory line R1 is the driving route from the starting point C1 to the end point E1, and the trajectory line R2 is the driving route from the offset end point E2 of the end point E1 to the starting point C1.

[0026] Step S6: Send the forward route and the return route to the roller terminal, and the roller repeats rolling according to the forward route and the return route until the compaction degree of the working area reaches the preset threshold.

[0027] During the actual operation process, the corresponding number of rollers will be arranged according to the number of quadrilateral areas. The planned outbound route and return route will be displayed at the vehicle end. The system will send the start commands to the vehicle ends of the corresponding rollers for the corresponding driving routes. After receiving the commands, the rollers will perform rolling according to the planned outbound route and return route displayed at the vehicle end. When reaching the end point, the vehicle end will automatically update the return route in the manner of step S4, and the driver will perform re-rolling from the end point to the starting point according to the return route, and so on until the required compaction degree is achieved.

[0028] In a specific embodiment, the compaction degree is measured by a compaction degree sensor. And since there is an overlapping area between the outbound rolling area and the return rolling area during the outbound and return processes, this overlapping area will be rolled during both the outbound and return processes. Therefore, when the compaction degree of the overlapping area meets the standard, only the compaction degree of the rolling blind area that is only rolled during the return process does not meet the standard. Thus, the compaction degree of the overlapping area cannot be used as the judgment standard for the compaction of the entire working area. In this embodiment, the compaction degree sensor is arranged in the rolling blind area. When the compaction degree of the rolling blind area meets the standard, it can be determined that the compaction of the entire working area has been completed. Embodiment 2

[0029] Based on the same inventive concept as in Embodiment 1, this embodiment provides a roller route planning system, which includes: An acquisition module, configured to acquire the construction map of the construction area, collect the coordinates of each inflection point of the working area to be compacted on the construction map, and draw the working area according to the coordinates of each inflection point; A setting module, configured to divide the working area into multiple quadrilateral areas. For each quadrilateral area, select two opposite sides as the first side and the second side, and set multiple passing points on the first side and the second side respectively, and use the passing points on the outermost sides of the first side or the second side as the starting point and the end point; An outbound route planning module, configured to start from the starting point and alternately pass through the passing points on the first side and the second side until reaching the end point to obtain the outbound route; A blind area determination module, configured to obtain the outbound rolling area according to the outbound route and the roller width, and determine the rolling blind area according to the working area and the outbound rolling area; A return route planning module, configured to, based on the rolling blind area, offset each passing point by a preset value, start from the offset end point and alternately pass through the passing points on the first side and the second side until reaching the starting point, to obtain the return route and make the return rolling area cover the rolling blind area; A command module, configured to send the outbound route and the return route to the roller terminal, and the roller performs rolling operations according to the outbound route and the return route until the compaction degree of the working area reaches the preset value.

[0030] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) that contain computer-usable program code.

[0031] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for realizing the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 block or multiple blocks.

[0032] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing devices to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that realize the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 block or multiple blocks.

[0033] These computer program instructions can also be loaded onto a computer or other programmable data processing devices, such that a series of operation steps are executed on the computer or other programmable devices to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable devices provide steps for realizing the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 block or multiple blocks.

[0034] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit and scope protected by the claims of the present invention. These all fall within the protection scope of the present invention.

Claims

1. A road roller route planning method, characterized in that: include: Obtaining a construction map of the construction area, collecting coordinates of various inflection points of the work area that needs to be compacted on the construction map, and drawing the work area according to the coordinates of the various inflection points; The working area is divided into a plurality of quadrilateral areas; for each quadrilateral area, two opposite sides are selected as a first side and a second side, a plurality of passing points are respectively set on the first side and the second side, and the passing points on the two sides of the first side or the second side are used as the starting point and the end point; Starting from the starting point, alternately passing through the passing points on the first side and the second side until reaching the end point to obtain the outbound route; Determine the outbound rolling area according to the outbound route and the width of the roller, and determine the rolling blind area according to the working area and the outbound rolling area; Based on the rolling blind area, each passing point except the starting point is offset by a preset value, and starting from the offset end point, alternately passing through the passing points on the first side and the second side until reaching the starting point to obtain a return route; The outbound route and the return route are sent to the roller terminal, and the roller repeats rolling according to the outbound route and the return route until the compaction degree of the working area reaches a preset threshold.

2. The road roller route planning method according to claim 1, characterized in that: The obtaining of the construction map of the construction area comprises: Use drones to collect multi-view images of the mining area; constructing a three-dimensional map of the mining area using the multi-view images; The three-dimensional map is corrected and cropped to obtain the construction map.

3. The road roller route planning method according to claim 2, characterized in that: Correcting and cutting the three-dimensional map includes deleting small parts, repairing holes, and cutting according to the scope of the mine area.

4. The road roller route planning method according to claim 1, characterized in that: The dividing the working area into a plurality of quadrilateral areas comprises: If the working area is a polygonal area, a dividing line is drawn in the polygonal area to divide it into a plurality of quadrilateral areas; If the working area is a closed figure with curved edges, the closed figure is fitted into a polygonal area, and then a dividing line is drawn in the polygonal area to obtain a plurality of quadrilateral areas.

5. The road roller route planning method according to claim 1, characterized in that: The fitting principle for fitting the closed figure into a polygonal area is to find a polygonal area that contains the entire working area and has the smallest area.

6. The road roller route planning method according to claim 1, characterized in that: The distances from the two side passing points on the first side and the second side to the adjacent turning points are both less than or equal to the width of the roller.

7. The road roller route planning method according to claim 1, characterized in that: The intervals between adjacent passing points on the first side and the second side are the same, and the intervals are a preset proportion of the entire side length; the outbound route and the return route pass through each passing point on the first side in sequence along the extension direction of the first side, and pass through each passing point on the second side in sequence along the extension direction of the second side.

8. The road roller route planning method according to claim 1, characterized in that: The compaction degree is measured by a compaction degree sensor.

9. The road roller route planning method according to claim 8, characterized in that: The compaction sensor is arranged in the rolling blind area.

10. A road roller route planning system, characterized in that: include: An acquisition module is used to acquire a construction map of the construction area, collect the coordinates of each inflection point of the work area that needs to be compacted on the construction map, and draw the work area according to the coordinates of each inflection point; A setting module is used to divide the working area into a plurality of quadrilateral areas; for each quadrilateral area, two opposite sides are selected as a first side and a second side, and a plurality of passing points are respectively set on the first side and the second side, and the passing points on the two sides of the first side or the second side are used as the starting point and the end point; An outbound trip planning module, configured to start from a starting point and alternately pass through the passing points on the first side and the second side until reaching an end point to obtain an outbound trip route; A blind area determination module, used to determine the outbound rolling area according to the outbound route and the roller width, and to determine the rolling blind area according to the working area and the outbound rolling area; A return trip planning module, configured to offset each passing point except the starting point by a preset value based on the rolling blind area, and start from the offset end point and alternately pass through the passing points on the first side and the second side until reaching the starting point, so as to obtain a return route; The instruction module is used to send the outbound route and the return route to the roller terminal, and the roller performs rolling operations according to the outbound route and the return route until the compaction degree of the working area reaches a preset threshold.

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