基于栅格细化的露天矿区路网模型快速构建方法

Method for quickly building road network model of open-pit mine based on grid refinement

  • 摘要: 露天矿区路网构建是实现露天矿卡车智能调度和无人驾驶的重要前提,但由于露天矿区道路较为复杂,矿车GPS轨迹数据采集量大,冗余数据和异常点繁多,构建路网模型仍存在较多难点。为解决此问题,提出一种基于栅格细化的露天矿区路网模型快速构建方法。首先提出基于改进膨胀算法的栅格去噪方法,对轨迹点二值化生成的路网栅格进行清洗,使用改进膨胀算法对低连通度的栅格空缺进行填充,减少栅格离散和断裂的影响;然后构建基于改进Zhang-Suen细化算法的路网骨架提取模型,对栅格区域进行图像形态学特征识别,利用改进Zhang-Suen细化算法提取栅格骨架图,使得提取的栅格骨架宽度恒定为一个栅格,减少原始细化算法处理后的毛刺和冗余;之后利用轨迹的时序特性,设计基于轨迹时序的路网骨架连接算法,提取路网的实际通行道路,解决因栅格化方法导致的路网异常连通的问题,并获得更好的道路连通效果;最后,根据实际应用需求和路网道路结构构建实际的路网模型,提出点−路−点的路网模型结构,在保证路网逻辑结构不变的情况下大幅减少路网的复杂程度和计算规模,并使用folium对路网进行可视化处理。实验表明:该方法构建的路网准确性、完整性分别为95.45%、96.43%;程序运行时间为2.697 s,满足露天矿路网模型生成快、精度高的使用需求。

     

    Abstract: Constructing the road network in open-pit mining areas is a crucial step for intelligent scheduling and autonomous driving of trucks in these regions. However, given the intricate road conditions, extensive GPS trajectory data from mining vehicles, and numerous outliers, modeling the road network poses several challenges. To solve this problem, a method for quickly building road network model of open-pit mine based on grid refinement was proposed. Firstly, denoising method for grid data, utilizing an enhanced dilation algorithm, is proposed to clean the road network grid generated by binarizing trajectory points. The algorithm fills in gaps within low-connectivity grids, mitigating the effects of grid fragmentation. Subsequently, a model for extracting the road network's backbone is developed, leveraging the refined Zhang-Suen algorithm. This model identifies morphological features within the grid area and extracts a skeleton map with a consistent grid width, eliminating burrs and redundancies left by the original algorithm. Taking advantage of trajectory temporality, a backbone connection algorithm is then devised to pinpoint the navigable roads within the network. This resolves issues stemming from the inherent grid method's abnormal connectivity, enhancing overall road connectivity. Lastly, in accordance with practical application needs and the structure of the road network, a point-road-point road network model structure is proposed to significantly reduce the complexity and computational scale of the road network while ensuring that the logical structure of the road network remains unchanged. And use folium to visualize the road network. The experiment shows that the accuracy and completeness of the road network constructed by this method are 95.45% and 96.43%, respectively, and the program running time is 2.697 seconds, which meets the requirements of fast generation and high accuracy of open-pit mine road network models.

     

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