Soil dumping operation vehicle route generation method and device, storage medium and electronic equipment

Abstract

The invention relates to the field of intelligent engineering, in particular to a dumping operation vehicle route generation method and device, a storage medium and electronic equipment. The dumping operation vehicle route generation method comprises the following steps: collecting field map data; the field map data comprises map data of a dumping line, a loaded vehicle preparation line and an empty vehicle preparation line; taking the starting point of the dumping line as a dumping point, and determining a vertical line in the tangential direction of the positioning point corresponding to the dumping point; a first preset distance is formed between the positioning point and the dumping point; whether a loaded vehicle entrance item point exists or not is determined according to the vertical line and the loaded vehicle preparation line, and whether an empty vehicle exit item point exists or not is determined based on the vertical line and the empty vehicle preparation line; and when the vertical lines corresponding to the dumping points have the corresponding item points and the corresponding otemp points, generating dumping operation vehicle routes corresponding to the dumping points based on the dumping site entrance point, the item points, the dumping points, the otemp points and the dumping site exit point. According to the dumping operation vehicle route generation method provided by the invention, the dumping operation vehicle route can be automatically generated, and the dumping operation efficiency is improved.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent engineering, specifically to a method for generating routes for dumping vehicles, a device for generating routes for dumping vehicles, a storage medium, and electronic equipment. Background Technology

[0002] Overburden stripping and dumping operations are the core of open-pit mining. Before mining, the overburden (waste rock / soil) must be stripped to expose the ore body. The amount of stripping is usually 5-15 times the amount of mining. However, the space inside the mining area is limited, and the stripped material must be transported to a separate dumping site, otherwise it will block the mining face.

[0003] However, the intelligent technologies for open-pit coal mining operations are not yet mature enough to quickly, efficiently, and accurately generate vehicle routes within the spoil heap to fully utilize available unloading space. Furthermore, spoil heap vehicles are generally longer, wider, and have a larger turning radius than ordinary vehicles, making direct reference impossible.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this disclosure is to provide a method, device, storage medium, and electronic device for generating routes for dumping operations, aiming to automatically generate dumping operation routes and improve the efficiency of dumping operations.

[0006] Other features and advantages of this disclosure will become apparent from the following detailed description, or may be learned in part from practice of this disclosure.

[0007] According to one aspect of this disclosure, a method for generating routes for dumping operations is provided, comprising: Collect on-site map data; the on-site map data includes map data of dumping lines, loaded vehicle preparation lines, and empty vehicle preparation lines. The starting point of the soil discharge line is taken as the soil discharge point, and the perpendicular line in the tangent direction at the corresponding positioning point is determined; the positioning point and the soil discharge point are separated by a first preset distance. The presence of a loaded vehicle entrance (itemp) is determined based on the vertical line and the loaded vehicle preparation line, and the presence of an empty vehicle exit (otemp) is determined based on the vertical line and the empty vehicle preparation line. When there are corresponding ittemp points and otemp points on the vertical lines corresponding to the dumping points, the dumping operation vehicle routes corresponding to the dumping points are generated based on the dumping site entrance point, the ittemp points, the dumping points, the otemp points, and the dumping site exit point.

[0008] Optionally, the method further includes: The route from the starting point of the dumping line to the dumping point is removed from the dumping line to determine the next dumping point and update the dumping point; Repeat the above steps of finding the heavy vehicle entrance (itemp) point, the empty vehicle exit (otemp) point, and generating the route for the dumping operation vehicle until all points in the dumping line have been cycled through.

[0009] Optionally, determining the next row of soil points includes: When there are corresponding ittemp and otemp points on the vertical line corresponding to the dumping point, the point that is separated from the dumping point by the first preset distance is taken as the next dumping point; the first preset distance is greater than or equal to the vehicle width.

[0010] Optionally, determining the next row of soil points includes: When there is no corresponding ittemp point or otemp point on the vertical line, the point that is a second preset distance away from the soil discharge point will be used as the next soil discharge point; the second preset distance is less than the first preset distance.

[0011] Optionally, determining whether a loaded vehicle entry point (itemp) exists based on the vertical line and the loaded vehicle preparation line includes: The intersection of the vertical line and the loaded vehicle preparation line is determined as the reference point; The point after the reference point is taken as the initial ittemp point according to the driving direction of the heavy vehicle preparation line; Use Bézier curves to calculate whether a route exists from the initial itam point to the dumping site; If the route exists, the initial ittemp point is used as the ittemp point and the loop is exited; if the route does not exist, the initial ittemp point is updated to the reference point and the above route calculation steps are repeated until the ittemp point is found or the points on the loaded vehicle preparation line are looped through.

[0012] Optionally, determining the perpendicular line in the tangential direction at the positioning point corresponding to the soil dumping point includes: With the dumping point as the center and the first preset distance as the radius, draw a semi-circle towards the end point of the dumping line; The intersection of the semi-circle and the soil discharge line is determined as the positioning point; Draw a tangent line to the positioning point on the soil discharge line, and draw a perpendicular line perpendicular to the tangent line.

[0013] Optionally, the collection of on-site map data includes: The mapping vehicle travels along the pre-set spoil disposal line in the actual site to obtain map data of the spoil disposal line; The mapping vehicle enters from the entrance of the spoil heap and travels from the starting point to the end point along a route that is roughly parallel to the spoil heap line and spaced at a first safety distance, thereby obtaining the map data of the heavy vehicle preparation line. The mapping vehicle travels from the end of the dumping line to the starting point along a route that is generally parallel to the dumping line and at a second safety distance, and then leaves the dumping site exit to obtain the map data of the empty vehicle preparation line.

[0014] According to a second aspect of this disclosure, a vehicle route generation device for dumping operations is provided, comprising: The data acquisition module is used to collect on-site map data, including map data of dumping lines, loaded vehicle preparation lines, and empty vehicle preparation lines. The perpendicular line module is used to determine a perpendicular line in the tangential direction at the positioning point corresponding to the soil discharge point, with the starting point of the soil discharge line as the soil discharge point; the positioning point is spaced apart from the soil discharge point by a first preset distance. The calculation module is used to determine whether there is a loaded car entrance (itemp) point based on the vertical line and the loaded car preparation line, and to determine whether there is an empty car exit (otemp) point based on the vertical line and the empty car preparation line. The generation module is used to generate the dumping operation vehicle route corresponding to the dumping point based on the dumping site entrance point, the itemp point, the dumping point, the otemp point, and the dumping site exit point when the corresponding istemp point and otemp point exist on the vertical line corresponding to the dumping point.

[0015] According to a third aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method for generating dumping operation vehicle routes as described in the above embodiments.

[0016] According to a fourth aspect of the present disclosure, an electronic device is provided, characterized in that it includes: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the method for generating routes for dumping operations vehicles as described in the above embodiments.

[0017] The exemplary embodiments disclosed herein may have some or all of the following beneficial effects: In the technical solutions provided by some embodiments of this disclosure, on the one hand, by collecting on-site map data including dumping lines, loaded vehicle preparation lines, and empty vehicle preparation lines as the data basis for generating dumping operation vehicle routes, the accuracy and reliability of route generation data can be improved, making route planning more realistic and avoiding the risk of conflict between routes and on-site conditions. On the other hand, by finding the loaded vehicle inlet (itemp) and empty vehicle outlet (otemp) points that can complete the dumping operation on the loaded vehicle preparation lines and empty vehicle preparation lines respectively, the dumping operation vehicle route of loaded vehicle entry-dumping operation-empty vehicle exit can be obtained, which can arrange vehicle flow more efficiently. The generated dumping operation vehicle route layout is simple and clear, making full use of the unloading space, thereby greatly improving the efficiency of dumping operation.

[0018] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings: Figure 1 The illustration shows a flowchart of a method for generating a dumping vehicle route in an exemplary embodiment of the present disclosure. Figure 2 This illustration schematically depicts a field map data example from an exemplary embodiment of the present disclosure. Figure 3 This schematic diagram illustrates the composition of a dumping operation vehicle route generation device according to an exemplary embodiment of the present disclosure; Figure 4 This schematic diagram illustrates a computer-readable storage medium according to an exemplary embodiment of the present disclosure; Figure 5 The schematic diagram illustrates the structure of a computer system of an electronic device according to an exemplary embodiment of the present disclosure. Detailed Implementation

[0020] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be more thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art.

[0021] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0022] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0023] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0024] The implementation details of the technical solutions of the embodiments of this disclosure are described in detail below.

[0025] Figure 1 This schematic diagram illustrates a flowchart of a method for generating routes for dumping operations in an exemplary embodiment of this disclosure. Figure 1 As shown, the method for generating routes for dumping operations includes steps S101 to S104: Step S101: Collect on-site map data; the on-site map data includes map data of the dumping line, the loaded vehicle preparation line, the empty vehicle preparation line, the entrance point, and the exit point; Step S102: Take the starting point of the soil discharge line as the soil discharge point, and determine the perpendicular line in the tangent direction at the positioning point corresponding to the soil discharge point; the positioning point and the soil discharge point are separated by a first preset distance; Step S103: Determine whether there is a loaded car entrance (itemp) point based on the vertical line and the loaded car preparation line, and determine whether there is an empty car exit (otemp) point based on the vertical line and the empty car preparation line; Step S104: When there are corresponding ittemp points and otemp points on the vertical lines corresponding to the dumping points, generate the dumping operation vehicle route corresponding to the dumping point based on the dumping site entrance point, the ittemp point, the dumping point, the otemp point and the dumping site exit point.

[0026] In the technical solutions provided by some embodiments of this disclosure, on the one hand, by collecting on-site map data including dumping lines, loaded vehicle preparation lines, and empty vehicle preparation lines as the data basis for generating dumping operation vehicle routes, the accuracy and reliability of route generation data can be improved, making route planning more realistic and avoiding the risk of conflict between routes and on-site conditions. On the other hand, by finding the loaded vehicle inlet (itemp) and empty vehicle outlet (otemp) points that can complete the dumping operation on the loaded vehicle preparation lines and empty vehicle preparation lines respectively, the dumping operation vehicle route of loaded vehicle entry-dumping operation-empty vehicle exit can be obtained, which can arrange vehicle flow more efficiently. The generated dumping operation vehicle route layout is simple and clear, making full use of the unloading space, thereby greatly improving the efficiency of dumping operation.

[0027] The following will describe in more detail each step of a method for generating a dumping vehicle route in this exemplary embodiment, with reference to the accompanying drawings and embodiments.

[0028] In step S101, on-site map data is collected; the on-site map data includes map data of the dumping line, the loaded vehicle preparation line, and the empty vehicle preparation line.

[0029] Specifically, the first step is to collect map data, including dumping lines, loaded vehicle preparation lines, and empty vehicle preparation lines, as the basis for subsequent route generation.

[0030] In one embodiment of this disclosure, the collection of on-site map data includes: The mapping vehicle travels along the pre-set spoil disposal line in the actual site to obtain map data of the spoil disposal line; The mapping vehicle enters from the entrance of the spoil heap and travels from the starting point to the end point along a route that is roughly parallel to the spoil heap line and spaced at a first safety distance, thereby obtaining the map data of the heavy vehicle preparation line. The mapping vehicle travels from the end of the dumping line to the starting point along a route that is generally parallel to the dumping line and at a second safety distance, and then leaves the dumping site exit to obtain the map data of the empty vehicle preparation line.

[0031] The method for collecting map data of the dumping lines is as follows: there are dumping lines planned in the actual site for vehicles to dump soil. The mapping vehicle travels along the dumping lines in the actual site to obtain the dumping line map data.

[0032] The method for collecting map data of the prepared line for loaded vehicles is as follows: the map-collecting vehicle enters from the entrance of the spoil heap, and then travels along a route that is roughly parallel to the spoil heap line, with a first safe distance between the two, and finally obtains the map data of the prepared line for loaded vehicles.

[0033] The method for collecting map data for the empty vehicle preparation line is as follows: the map-collecting vehicle travels along a route that is roughly parallel to the spoil disposal line, with a second safety distance between them, and then leaves the spoil disposal site exit, thus obtaining the map data for the empty vehicle preparation line.

[0034] Figure 2 This illustration schematically depicts a site map data example from an exemplary embodiment of the present disclosure. It should be noted that all collected data must be within the designated area of ​​the spoil heap. Furthermore, considering actual vehicle traffic, a safety distance of at least two vehicle widths must be maintained between the loaded vehicle preparation line and the empty vehicle preparation line; therefore, the configuration of the first and second safety distances should conform to this setting. The spoil heap entrance is located on the loaded vehicle preparation line, and the spoil heap exit is located on the empty vehicle preparation line.

[0035] Based on the above method, by collecting on-site map data including spoil heap lines, loaded vehicle reserve lines, and empty vehicle reserve lines, the real-time terrain, obstacles, and layout of the work site can be accurately reflected. This avoids relying on outdated or inaccurate drawings or simulation data, reduces planning errors, and thus improves data accuracy and reliability.

[0036] In addition, each mine or spoil heap has different terrain, size, and layout (such as slope, bends, or temporary obstacles). Data collection in the field can capture these details, making route planning more realistic, avoiding the risk of route conflict with site conditions, and enhancing environmental adaptability.

[0037] In step S102, the starting point of the soil discharge line is taken as the soil discharge point, and the perpendicular line in the tangent direction at the corresponding positioning point is determined; the positioning point and the soil discharge point are spaced apart by a first preset distance.

[0038] Specifically, generating dumping operation vehicle routes is a cyclical process that requires traversing all points along the dumping line. For each point, it is treated as a dumping point, and the system searches whether a dumping operation vehicle route can be generated. Ultimately, all feasible dumping points and their corresponding dumping operation vehicle routes are obtained.

[0039] In one embodiment of this disclosure, determining the perpendicular line in the tangential direction at the positioning point corresponding to the soil dumping point includes: With the dumping point as the center and the first preset distance as the radius, draw a semi-circle towards the end point of the dumping line; The intersection of the semi-circle and the soil discharge line is determined as the positioning point; Draw a tangent line to the positioning point on the soil discharge line, and draw a perpendicular line perpendicular to the tangent line.

[0040] Specifically, taking the starting point of the dumping line as the center and a first preset distance as the radius, draw a semi-circle extending towards the end point of the dumping line. The intersection of this semi-circle with the dumping line in the direction closest to the end point is taken as the positioning point UP for this dumping position. Then, draw a tangent line at UP on the dumping line and a perpendicular line VL to this tangent line. Specifically, to ensure that multiple vehicles' dumping operations do not interfere with each other, the first preset distance can be set to be greater than or equal to the width of one vehicle. It should be noted that the vertical line VL is the heading of the dumping position. At the same time, based on the actual size of the vehicle, the dumping position coordinates can also be generated according to the dumping position size. The dumping position size is set according to the actual vehicle size, using 'a' to represent the vehicle length and 'b' to represent the vehicle width.

[0041] In step S103, the presence of a loaded vehicle entrance (itemp) is determined based on the vertical line and the loaded vehicle preparation line, and the presence of an empty vehicle exit (otemp) is determined based on the vertical line and the empty vehicle preparation line.

[0042] Specifically, since the length, width, and turning radius of engineering vehicles used for open-air soil dumping operations are different from those of ordinary vehicles, it is necessary to find suitable ittemp and otemp points for soil dumping operations when designing vehicle routes.

[0043] In one embodiment of this disclosure, determining whether a loaded vehicle entry point (itemp) exists based on the vertical line and the loaded vehicle preparation line includes: The intersection of the vertical line and the loaded vehicle preparation line is determined as the reference point; The point after the reference point is taken as the initial ittemp point according to the driving direction of the heavy vehicle preparation line; Use Bézier curves to calculate whether a route exists from the initial itam point to the dumping site; If the route exists, the initial ittemp point is used as the ittemp point and the loop is exited; if the route does not exist, the initial ittemp point is updated to the reference point and the above route calculation steps are repeated until the ittemp point is found or the points on the loaded vehicle preparation line are looped through.

[0044] Among them, the Bézier curve is a mathematical tool that generates smooth curves by using control points. Its core idea is to simplify the drawing of complex curves to the adjustment of polygon control points.

[0045] Specifically, the intersection of the vertical line VL and the prepared line for loaded vehicles is first used as the reference point. Then, the loop iterates through each point after the reference point, using Bézier curves to calculate the route from that point to the dumping site. The loop ends when there is a calculation result; otherwise, the loop continues with the next point. Ultimately, the loop ends either when the ittemp point is found, or when all points on the prepared line for loaded vehicles have been calculated and no results are found.

[0046] The calculation result is the route from the itemp point to the dumping site, and the itemp point can be used as the reversing point for this dumping site.

[0047] It should be noted that the loaded vehicle preparation line has a driving direction. When taking points on the cyclic loaded vehicle preparation line, the points are taken from the reference point backward along the driving direction. Points can be taken at preset intervals, such as 0.2m intervals, that is, a point is taken every 0.2m on the loaded vehicle preparation line to find the ittemp point.

[0048] The process of finding the otemp point is similar to that of the ittemp point, so I won't go into too much detail here. It should be noted that the empty car preparation line and the loaded car preparation line have different forms and directions, so the direction will be different when going to the subsequent points.

[0049] In step S104, when there are corresponding ittemp points and otemp points on the vertical lines corresponding to the dumping points, the dumping operation vehicle route corresponding to the dumping point is generated based on the dumping site entrance point, the ittemp point, the dumping point, the otemp point and the dumping site exit point.

[0050] Specifically, if the istemp point and the otemp point can be determined based on the vertical line corresponding to the dump point, a dumping operation vehicle route can be generated from the dumping site entrance point - istemp point - dumping point - otemp point - dumping site exit point.

[0051] It should be noted that, for the convenience of subsequent vehicle route guidance, the aforementioned dumping operation vehicle route can be broken down into three segments: in, back, and out. The in route is from the dump site entrance to the ittemp point (reversing point); the back route is from the ittemp point to the dumping point; and the out route is from the dumping point to the otemp point to the dump site exit. Therefore, determining the ittemp point allows us to determine the in and back routes, and determining the otemp point allows us to determine the out route.

[0052] In embodiments of this disclosure, the method further includes: The route from the starting point of the dumping line to the dumping point is removed from the dumping line, and the next dumping point is determined to update the dumping point; Repeat the above steps of finding the heavy vehicle entrance (itemp) point, the empty vehicle exit (otemp) point, and generating the route for the dumping operation vehicle until all points in the dumping line have been cycled through.

[0053] Specifically, after the route calculation process for a row of soil points is completed, regardless of whether the route generation is successful or not, it is necessary to continue traversing the subsequent points on the soil disposal line. Therefore, the calculated parts are removed, the next row of soil points is searched, and the above loop process is repeated until all points in the soil disposal line are looped through.

[0054] When determining the next row of soil disposal points, whether the previous row of soil disposal points successfully generated a route is crucial. This is because if a route for soil disposal vehicles was generated for the previous row of soil disposal points, then in order not to affect the soil disposal operation at that point, the next row of soil disposal points must be at least one vehicle width (b) away from that point. However, if no route for soil disposal vehicles was generated for the previous row of soil disposal points, then there is no situation that would affect the soil disposal operation, so the next row of soil disposal points can be selected at a smaller interval, such as an interval of 0.02m.

[0055] Therefore, in one embodiment of this disclosure, determining the next soil row point includes: When there are corresponding ittemp and otemp points on the vertical line corresponding to the dumping point, the point that is separated from the dumping point by the first preset distance is taken as the next dumping point; the first preset distance is greater than or equal to the vehicle width.

[0056] That is, if the previous soil dumping point successfully generates a route for the soil dumping operation vehicle, the next soil dumping point must be at least one vehicle width b away from that point.

[0057] In another embodiment of this disclosure, determining the next row of soil points includes: When there is no corresponding ittemp point or otemp point on the vertical line, the point that is a second preset distance away from the soil discharge point will be used as the next soil discharge point; the second preset distance is less than the first preset distance.

[0058] If no dumping vehicle route is generated for the previous dumping point, the next dumping point is determined using the normal point selection method, and the second preset distance between them is less than the first preset distance.

[0059] Following the method described above, after each calculation, a portion of the calculated spoil disposal lines is removed until no points can be found on the spoil disposal lines, at which point the cycle is considered complete. Ultimately, the routes for all spoil disposal points corresponding to the spoil disposal vehicle routes can be obtained.

[0060] It should be noted that the above also introduced the method for determining the heading and coordinates of the dumping site. The heading, coordinates, and route of the dumping operation vehicle can be linked to the dumping point. After the vehicle selects the target dumping point, relevant information can be obtained for visualization or information navigation.

[0061] Based on the above method, the route of the dumping operation vehicle is calculated geometrically, which reduces manual intervention and makes the planning more efficient and accurate. In addition, the separate design of the loaded vehicle reserve line and the empty vehicle reserve line simplifies the route distribution, reduces redundant driving, makes full use of the unloading space, and avoids space waste.

[0062] Figure 3 This schematic diagram illustrates the composition of a dumping operation vehicle route generation device according to an exemplary embodiment of the present disclosure, such as... Figure 3 As shown, the dumping operation vehicle route generation device 300 may include a data acquisition module 301, a vertical line module 302, a calculation module 303, and a generation module 304. Wherein: The data acquisition module 301 is used to acquire on-site map data; the on-site map data includes map data of the dumping line, the loaded vehicle preparation line, and the empty vehicle preparation line. The perpendicular line module 302 is used to take the starting point of the soil discharge line as the soil discharge point and determine the perpendicular line in the tangential direction at the positioning point corresponding to the soil discharge point; the positioning point is spaced apart from the soil discharge point by a first preset distance. The calculation module 303 is used to determine whether there is a loaded car entrance (itemp) point based on the vertical line and the loaded car preparation line, and to determine whether there is an empty car exit (otemp) point based on the vertical line and the empty car preparation line. The generation module 304 is used to generate the dumping operation vehicle route corresponding to the dumping point based on the dumping site entrance point, the itemp point, the dumping point, the otemp point, and the dumping site exit point when the corresponding istemp point and otemp point exist on the vertical line corresponding to the dumping point.

[0063] According to an exemplary embodiment of the present disclosure, the dumping operation vehicle route generation device 300 further includes a circulation module, which is used to remove the route from the starting point of the dumping line to the dumping point from the dumping line to determine the next dumping point to update the dumping point; repeat the above steps of finding the loaded vehicle entrance (itemp) point, the empty vehicle exit (otemp) point and generating the dumping operation vehicle route until all points in the dumping line are circulated.

[0064] According to an exemplary embodiment of this disclosure, the loop module is further configured to, when there are corresponding ittemp points and otemp points on the vertical lines corresponding to the soil discharge points, take a point that is spaced from the soil discharge point by a first preset distance as the next soil discharge point; the first preset distance is greater than or equal to the vehicle width.

[0065] According to an exemplary embodiment of this disclosure, the loop module is further configured to, when there is no corresponding ittemp point or otemp point on the vertical line, take a point that is spaced at a second preset distance from the soil discharge point as the next soil discharge point; the second preset distance is less than the first preset distance.

[0066] According to an exemplary embodiment of this disclosure, the calculation module 303 is further configured to determine the intersection of the vertical line and the pre-loaded vehicle line as a reference point; take a point after the reference point according to the driving direction of the pre-loaded vehicle line as an initial ittemp point; use a Bézier curve to calculate whether there is a route from the initial ittemp point to the dumping site; if the route exists, then the initial ittemp point is used as the ittemp point and the loop is exited; if the route does not exist, then the initial ittemp point is updated to the reference point and the above steps of calculating the route are repeated until the ittemp point is found or the points on the pre-loaded vehicle line are looped through.

[0067] According to an exemplary embodiment of this disclosure, the perpendicular line module 302 is further configured to draw a semi-circle with the soil discharge point as the center and the first preset distance as the radius, toward the end point of the soil discharge line; determine the intersection of the semi-circle and the soil discharge line as the positioning point; draw a tangent line to the positioning point on the soil discharge line, and draw a perpendicular line perpendicular to the tangent line.

[0068] According to an exemplary embodiment of this disclosure, the data acquisition module 301 is further configured to: ...

[0069] The specific details of each module in the aforementioned dumping operation vehicle routing device 300 have been described in detail in the corresponding dumping operation vehicle routing method, so they will not be repeated here.

[0070] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0071] In an exemplary embodiment of this disclosure, a storage medium capable of implementing the above-described method is also provided. Figure 4 This schematic diagram illustrates a computer-readable storage medium according to an exemplary embodiment of the present disclosure, such as... Figure 4 As shown, a program product 400 for implementing the above-described method according to an embodiment of the present disclosure is described. This product may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a mobile phone. However, the program product of the present disclosure is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0072] In an exemplary embodiment of this disclosure, an electronic device capable of implementing the above-described method is also provided. Figure 5 The schematic diagram illustrates the structure of a computer system of an electronic device according to an exemplary embodiment of the present disclosure.

[0073] It should be noted that, Figure 5 The computer system 500 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0074] like Figure 5 As shown, the computer system 500 includes a Central Processing Unit (CPU) 501, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 502 or programs loaded from storage section 508 into Random Access Memory (RAM) 503. The RAM 503 also stores various programs and data required for system operation. The CPU 501, ROM 502, and RAM 503 are interconnected via a bus 504. An Input / Output (I / O) interface 505 is also connected to the bus 504.

[0075] The following components are connected to I / O interface 505: an input section 506 including a keyboard, mouse, etc.; an output section 507 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to I / O interface 505 as needed. Removable media 511, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 510 as needed so that computer programs read from them can be installed into storage section 508 as needed.

[0076] In particular, according to embodiments of this disclosure, the processes described below with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 509, and / or installed from removable medium 511. When the computer program is executed by central processing unit (CPU) 501, it performs various functions defined in the system of this disclosure.

[0077] It should be noted that the computer-readable medium shown in the embodiments of this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such transmitted data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0078] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0079] The units described in the embodiments of this disclosure can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the unit itself.

[0080] In another aspect, this disclosure also provides a computer-readable medium, which may be included in the electronic device described in the above embodiments; or it may exist independently and not assembled into the electronic device. The computer-readable medium carries one or more programs that, when executed by the electronic device, cause the electronic device to perform the methods described in the above embodiments.

[0081] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0082] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, touch terminal, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0083] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein.

[0084] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A method for generating routes for dumping operations, characterized in that, include: Collect on-site map data; the on-site map data includes map data of dumping lines, loaded vehicle preparation lines, and empty vehicle preparation lines. The starting point of the soil discharge line is taken as the soil discharge point, and the perpendicular line in the tangent direction at the corresponding positioning point is determined; the positioning point and the soil discharge point are separated by a first preset distance. The presence of a loaded vehicle entrance (itemp) is determined based on the vertical line and the loaded vehicle preparation line, and the presence of an empty vehicle exit (otemp) is determined based on the vertical line and the empty vehicle preparation line. When there are corresponding ittemp points and otemp points on the vertical lines corresponding to the dumping points, the dumping operation vehicle routes corresponding to the dumping points are generated based on the dumping site entrance point, the ittemp points, the dumping points, the otemp points, and the dumping site exit point.

2. The method for generating routes for dumping operations according to claim 1, characterized in that, The method further includes: The route from the starting point of the dumping line to the dumping point is removed from the dumping line to determine the next dumping point and update the dumping point; Repeat the above steps of finding the heavy vehicle entrance (itemp) point, the empty vehicle exit (otemp) point, and generating the route for the dumping operation vehicle until all points in the dumping line have been cycled through.

3. The method for generating routes for dumping operations according to claim 2, characterized in that, Determining the next row of soil points includes: When there are corresponding ittemp and otemp points on the vertical line corresponding to the dumping point, the point that is separated from the dumping point by the first preset distance is taken as the next dumping point; the first preset distance is greater than or equal to the vehicle width.

4. The method for generating routes for dumping operations according to claim 2, characterized in that, Determining the next row of soil points includes: When there is no corresponding ittemp point or otemp point on the vertical line, the point that is a second preset distance away from the soil discharge point will be used as the next soil discharge point; the second preset distance is less than the first preset distance.

5. The method for generating routes for dumping operations according to claim 1, characterized in that, The step of determining whether there is a loaded vehicle entrance (itemp) point based on the vertical line and the loaded vehicle preparation line includes: The intersection of the vertical line and the loaded vehicle preparation line is determined as the reference point; The point after the reference point is taken as the initial ittemp point according to the driving direction of the heavy vehicle preparation line; Use Bézier curves to calculate whether a route exists from the initial itam point to the dumping site; If the route exists, the initial ittemp point is used as the ittemp point and the loop is exited; if the route does not exist, the initial ittemp point is updated to the reference point and the above route calculation steps are repeated until the ittemp point is found or the points on the loaded vehicle preparation line are looped through.

6. The method for generating routes for dumping operations according to claim 1, characterized in that, Determining the perpendicular line in the tangent direction at the location corresponding to the dumping point includes: With the dumping point as the center and the first preset distance as the radius, draw a semi-circle towards the end point of the dumping line; The intersection of the semi-circle and the soil discharge line is determined as the positioning point; Draw a tangent line to the positioning point on the soil dumping line, and draw a perpendicular line to the tangent line.

7. The method for generating routes for dumping operations according to claim 2, characterized in that, The collected site map data includes: The mapping vehicle travels along the pre-set spoil disposal line in the actual site to obtain map data of the spoil disposal line; The mapping vehicle enters from the entrance of the spoil heap and travels from the starting point to the end point along a route that is roughly parallel to the spoil heap line and spaced at a first safety distance, thereby obtaining the map data of the heavy vehicle preparation line. The mapping vehicle travels from the end of the dumping line to the starting point along a route that is generally parallel to the dumping line and at a second safety distance, and then leaves the dumping site exit to obtain the map data of the empty vehicle preparation line.

8. A device for generating routes for dumping operations, characterized in that, include: The data acquisition module is used to collect on-site map data; The site map data includes map data for the dumping line, the loaded vehicle preparation line, and the empty vehicle preparation line. The perpendicular line module is used to determine a perpendicular line in the tangential direction at the positioning point corresponding to the soil discharge point, with the starting point of the soil discharge line as the soil discharge point; the positioning point is spaced apart from the soil discharge point by a first preset distance. The calculation module is used to determine whether there is a loaded car entrance (itemp) point based on the vertical line and the loaded car preparation line, and to determine whether there is an empty car exit (otemp) point based on the vertical line and the empty car preparation line. The generation module is used to generate the dumping operation vehicle route corresponding to the dumping point based on the dumping site entrance point, the itemp point, the dumping point, the otemp point, and the dumping site exit point when the corresponding istemp point and otemp point exist on the vertical line corresponding to the dumping point.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method for generating routes for dumping operations as described in any one of claims 1 to 7.

10. An electronic device, characterized in that, include: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the method for generating dumping operation vehicle routes as described in any one of claims 1 to 7.

Images