CN114399399B

CN114399399B - Unloading and parking method and device for mine vehicles, computer equipment and storage medium

Info

Publication number: CN114399399B
Application number: CN202210297562.1A
Authority: CN
Inventors: 高�玉; 杨清源; 陈亚珏; 郭翔宇
Original assignee: Qingdao Vehicle Intelligence Pioneers Inc
Current assignee: Qingdao Vehicle Intelligence Pioneers Inc
Priority date: 2022-03-25
Filing date: 2022-03-25
Publication date: 2022-07-12
Anticipated expiration: 2042-03-25
Also published as: CN114399399A

Abstract

The invention discloses an unloading and parking method and device for mine vehicles, computer equipment and a storage medium, and relates to the technical field of non-electric variable control or adjustment systems. The method comprises the following steps: acquiring single-frame retaining wall point clouds output at different moments when a mining area vehicle backs and drives to a retaining wall; determining rear wheel region point clouds respectively corresponding to a left rear wheel and a right rear wheel of the mining area vehicle, which are close to one side of the retaining wall, according to the single-frame retaining wall point clouds corresponding to different moments; determining a first fitting plane corresponding to a rear retaining wall area of the left rear wheel and a second fitting plane corresponding to a rear retaining wall area of the right rear wheel based on rear wheel area point clouds respectively corresponding to the left rear wheel and the right rear wheel; calculating a first distance between the center of the left rear wheel and the first fitting plane, and a second distance between the center of the right rear wheel and the second fitting plane; and controlling the unloading and parking of the mine vehicle according to the first distance and the second distance.

Description

Unloading and parking method and device for mine vehicles, computer equipment and storage medium

Technical Field

The application relates to the technical field of non-electric variable control or adjustment systems, in particular to an unloading parking method and device for mine vehicles, computer equipment and a storage medium.

Background

The unloading area is one of the most important areas of the mining area, and in the process of backing and unloading mining area vehicles in the area, the mining area vehicles need to be controlled to safely stop based on the distance between the end point marker-retaining wall and the mining area vehicles so as to prevent the mining area vehicles from crossing the boundary, so that how to accurately stop the mining area vehicles in the unloading area is one of the problems to be solved urgently in the field of mining area intelligent sensing.

Currently, in the process of controlling the parking of the mine vehicles, the shortest distance between the bottom surface of the retaining wall in the vehicle width direction right behind the mine vehicles and the center of the rear axle of the vehicle body is generally measured, and whether the vehicles are parked is judged according to the shortest distance. However, in this way, the size of the closest distance is affected by the shape of the retaining wall, when the geometric shape of the retaining wall is irregular, such as with a radian, or when the geometric shape of the retaining wall becomes irregular in the actual use process, the choice of the parking position in this way greatly fluctuates, and it cannot be guaranteed that the left and right rear wheels of the mining area vehicle are attached to the retaining wall as much as possible, that is, the accuracy of the parking position of the mining area vehicle cannot be guaranteed, so that the situation that the mining area vehicle cannot be parked in place and cannot pour the material into the unloading area occurs.

Disclosure of Invention

The invention provides an unloading and parking method and device for mine vehicles, computer equipment and a storage medium, and mainly aims to effectively ensure the parking position precision of the mine vehicles.

According to a first aspect of the invention, there is provided an unloading parking method for mine vehicles, comprising:

acquiring single-frame retaining wall point clouds output at different moments when a mining area vehicle backs and drives to a retaining wall;

determining rear wheel region point clouds respectively corresponding to a left rear wheel and a right rear wheel of the mining area vehicle, which are close to one side of the retaining wall, according to the single-frame retaining wall point clouds corresponding to different moments;

determining a first fitting plane corresponding to a rear retaining wall area of the left rear wheel and a second fitting plane corresponding to a rear retaining wall area of the right rear wheel based on rear wheel area point clouds respectively corresponding to the left rear wheel and the right rear wheel;

calculating a first distance between the wheel center of the left rear wheel and the first fitting plane and a second distance between the wheel center of the right rear wheel and the second fitting plane;

and controlling the unloading and parking of the mine vehicles according to the first distance and the second distance.

According to a second aspect of the present invention, there is provided an unloading dock for a mine vehicle, comprising:

the acquisition unit is used for acquiring single-frame retaining wall point clouds output at different moments in the process that vehicles in a mining area back up and drive to the retaining wall;

the first determining unit is used for determining rear wheel area point clouds respectively corresponding to a left rear wheel and a right rear wheel of the mining area vehicle, which are close to one side of the retaining wall, according to the single-frame retaining wall point clouds corresponding to different moments;

a second determining unit, configured to determine, based on point clouds of rear wheel regions corresponding to the left rear wheel and the right rear wheel, a first fitting plane corresponding to a rear retaining wall region of the left rear wheel and a second fitting plane corresponding to a rear retaining wall region of the right rear wheel;

a calculation unit configured to calculate a first distance between a wheel center of the left rear wheel and the first fitting plane, and a second distance between a wheel center of the right rear wheel and the second fitting plane;

and the control unit is used for controlling the unloading and parking of the mine vehicles according to the first distance and the second distance.

According to a third aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:

acquiring single-frame retaining wall point clouds output at different times in the process that vehicles in a mining area drive to the retaining wall in a backing mode;

determining rear wheel area point clouds corresponding to a left rear wheel and a right rear wheel of the mining area vehicle close to one side of the retaining wall according to the single-frame retaining wall point clouds corresponding to different moments;

and controlling the unloading and parking of the mine vehicle according to the first distance and the second distance.

According to a fourth aspect of the present invention, there is provided a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the program:

Compared with the prior art that the unloading and parking of the mine vehicles are controlled based on the closest distance between the bottom surface of the retaining wall and the center of the rear axle of the vehicle body in the vehicle width direction right behind the mine vehicles, the unloading and parking method, the unloading and parking device, the computer equipment and the storage medium for the mine vehicles have the advantages that single-frame retaining wall point clouds output by the mine vehicles at different moments in the process of backing up and driving to the retaining wall can be obtained; determining rear wheel region point clouds respectively corresponding to a left rear wheel and a right rear wheel of the mining area vehicle, which are close to one side of the retaining wall, according to the single-frame retaining wall point clouds corresponding to different moments; meanwhile, determining a first fitting plane corresponding to a rear retaining wall area of the left rear wheel and a second fitting plane corresponding to a rear retaining wall area of the right rear wheel based on rear wheel area point clouds respectively corresponding to the left rear wheel and the right rear wheel; calculating a first distance between the wheel center of the left rear wheel and the first fitting plane and a second distance between the wheel center of the right rear wheel and the second fitting plane; and finally, controlling the unloading and parking of the mine vehicle according to the first distance and the second distance. According to the invention, the parking of the mining area vehicle is controlled mainly through the first distance between the left rear wheel and the first fitting plane of the retaining wall area behind the left rear wheel and the second distance between the right rear wheel and the second fitting plane of the retaining wall area behind the right rear wheel, so that even if the geometric shape of the retaining wall is irregular or the geometric shape of the retaining wall becomes irregular in the use process, the left rear wheel and the right rear wheel can be attached to the retaining wall as much as possible when the mining area vehicle is parked, the parking position precision of the mining area vehicle can be ensured, the situation that materials are poured into the unloading area due to the fact that the left rear wheel and the right rear wheel are parked in place is avoided, and the production safety is ensured.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:

FIG. 1 is a flow chart of an unloading and parking method for mine vehicles according to an embodiment of the invention;

FIG. 2 is a flow chart of another unloading and parking method for mine vehicles according to the embodiment of the invention;

FIG. 3 is a schematic diagram of a lidar coordinate system provided by an embodiment of the invention;

FIG. 4 is a schematic diagram illustrating the positional relationship between the mining vehicles and the retaining wall according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of an unloading parking device of a mine vehicle, provided by the embodiment of the invention;

FIG. 6 is a schematic structural diagram of an unloading dock of another mine vehicle provided by the embodiment of the invention;

FIG. 7 is a block diagram illustrating an example of a physical structure of a computer device according to an embodiment of the present invention;

FIG. 8 is a schematic diagram illustrating a chip according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a terminal according to an embodiment of the present invention.

Detailed Description

The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

At present, when the geometric shape of a retaining wall is irregular, the existing parking mode of mining vehicles cannot ensure that left and right rear wheels of the mining vehicles are attached to the retaining wall as much as possible, namely the parking position precision of the mining vehicles cannot be ensured, so that the situation that materials cannot be poured into an unloading area when the mining vehicles cannot be parked in place occurs.

In order to solve the above problem, an embodiment of the present invention provides an unloading parking method for mine vehicles, as shown in fig. 1, the method including:

101. and acquiring single-frame retaining wall point clouds output by vehicles in the mining area at different moments in the process of backing the vehicle to the retaining wall.

The mining area vehicle is a vehicle which needs to stop at the side of the retaining wall to pour materials into the unloading area, and the single-frame retaining wall point clouds corresponding to different moments comprise coordinates of scanning points under radar coordinate systems at different moments.

The embodiment of the invention is mainly applied to a scene of controlling the unloading and stopping of the mine vehicles. The execution main body of the embodiment of the invention is a device or equipment capable of controlling the unloading and parking of mine vehicles, and can be specifically arranged on one side of a server or one side of a vehicle end.

For the embodiment of the invention, the mine vehicle continuously backs up and drives to the retaining wall when the unloading area works, during the period, the laser radar arranged above the rear axle center of the mine vehicle can collect radar point cloud data at different moments, and after the radar point cloud data is processed by the sensing layer, a single-frame retaining wall point cloud corresponding to different moments is output, wherein the single-frame retaining wall point cloud comprises the coordinates of each scanning point in a radar coordinate system at the corresponding moment.

102. And determining rear wheel region point clouds respectively corresponding to a left rear wheel and a right rear wheel of the mining area vehicle close to one side of the retaining wall according to the single-frame retaining wall point clouds corresponding to different moments.

The left rear wheel and the right rear wheel are the left rear wheel and the right rear wheel which are close to one side of the retaining wall in the process that the mining area vehicle drives to the retaining wall in a backing mode. For the embodiment of the invention, after the single-frame retaining wall point clouds corresponding to different moments are obtained, the single-frame retaining wall point clouds corresponding to different moments are sequentially superposed to obtain the fused retaining wall point clouds, and then the unloading and parking of the mining area vehicle are controlled according to the fused retaining wall point clouds. Because the number of points contained in the single-frame retaining wall point cloud is limited when the retaining wall is far away from the retaining wall, and the single-frame retaining wall point cloud cannot contain complete point cloud data in the vehicle width direction when the retaining wall is near, the embodiment of the invention only sequentially overlaps the single-frame retaining wall point cloud within a reasonable range, for example, obtains 20 frames of retaining wall point clouds within a range of 15 meters to 8 meters away from the retaining wall of a mining area vehicle, and sequentially overlaps the 20 frames of retaining wall point clouds according to the obtained sequence to obtain the fused retaining wall point cloud.

Further, because the left rear wheel and the right rear wheel of the mining area vehicle are required to be attached to the retaining wall as much as possible when the mining area vehicle stops, the influence of the retaining wall of the rear area of the left rear wheel and the rear area of the right rear wheel on the stopping distance is paid more attention to in the embodiment of the invention. The wheel center position information is position coordinates of the left rear wheel and the right rear wheel in the radar coordinate system at the current time.

According to the embodiment of the invention, the parking distance is judged by utilizing the point cloud of the rear wheel region corresponding to the retaining wall region behind the left rear wheel and the retaining wall region behind the right rear wheel, so that even if the geometric shape of the retaining wall is irregular or the geometric shape of the retaining wall changes in the using process, the left rear wheel and the right rear wheel can still be attached to the retaining wall as much as possible when the vehicle in the mining area parks, and the parking position precision of the vehicle in the mining area can be ensured.

103. And determining a first fitting plane corresponding to the rear retaining wall area of the left rear wheel and a second fitting plane corresponding to the rear retaining wall area of the right rear wheel based on the rear wheel area point cloud corresponding to the left rear wheel and the right rear wheel respectively.

In order to determine the distance between the left rear wheel and the rear retaining wall thereof and the distance between the right rear wheel and the rear retaining wall thereof, in the embodiment of the present invention, plane fitting is performed according to the point cloud of the rear wheel region corresponding to the left rear wheel to obtain a first fitting plane corresponding to the rear retaining wall region of the left rear wheel, and simultaneously, plane fitting is performed according to the point cloud of the rear wheel region corresponding to the right rear wheel to obtain a second fitting plane corresponding to the rear retaining wall region of the right rear wheel.

In the embodiment of the invention, in the process of plane fitting, the plane fitting is respectively carried out on the rear retaining wall areas of the left and right rear wheels according to the point cloud of the rear wheel area, and the plane fitting is not carried out on the complete retaining wall by utilizing the fused retaining wall point cloud, so that the first distance between the left rear wheel and the rear retaining wall thereof and the second distance between the right rear wheel and the rear retaining wall thereof can be accurately determined through the first fitting plane and the second fitting plane.

104. Calculating a first distance between a wheel center of the left rear wheel and the first fitting plane, and a second distance between a wheel center of the right rear wheel and the second fitting plane.

For the embodiment of the present invention, when calculating the first distance between the left rear wheel and the first fitting plane and the second distance between the right rear wheel and the second fitting plane, first, a first symmetric plane corresponding to the left rear wheel is fitted according to the position coordinate of the center of wheel of the left rear wheel in the lidar coordinate system at the current time, and meanwhile, a second symmetric plane corresponding to the right rear wheel is fitted according to the position coordinate of the center of wheel of the right rear wheel in the lidar coordinate system at the current time, and then, a first intersection line between the first fitting plane and the first symmetric plane and a second intersection line between the second fitting plane and the second symmetric plane are respectively determined, and finally, the first distance between the center of wheel of the left rear wheel and the first intersection line and the second distance between the center of wheel of the right rear wheel and the second intersection line are calculated. Therefore, a first distance between the left rear wheel and the first fitting plane and a second distance between the right rear wheel and the second fitting plane can be calculated in the mode.

105. And controlling the unloading and parking of the mine vehicle according to the first distance and the second distance.

For the embodiment of the present invention, as an optional implementation manner, for a specific process of controlling the mine area vehicle to perform unloading parking according to the first distance and the second distance, step 105 specifically includes: taking the smaller distance of the first distance and the second distance as a target distance; judging whether the target distance is smaller than a preset distance or not; if the target distance is smaller than the preset distance, determining that the mining area vehicle reaches a parking point, and controlling the mining area vehicle to unload and stop; and if the target distance is greater than or equal to the preset distance, determining that the mining area vehicle does not reach a parking spot, and not unloading and parking.

For example, the preset distance is 2 meters, the distance between the wheel center of the left rear wheel and the first fitting plane is 2.1 meters, the distance between the wheel center of the left rear wheel and the second fitting plane is 1.9 meters, 1.9 meters is selected to be compared with the preset distance of 2 meters because 1.9 meters is smaller than 2.1 meters, and the parking instruction is sent to the control layer to control the mining area vehicle to unload and stop because 1.9 meters is smaller than 2 meters.

Further, for the determination process of the preset distance, as an optional implementation, the method includes: obtaining the wheel radius corresponding to the mining area vehicle and the braking distance required by the mining area vehicle from the receiving of a parking instruction to the complete braking; and adding the radius of the wheel and the braking distance to obtain the preset distance.

For example, the radius of the wheel corresponding to the mine vehicle is 1.7 meters, and the braking distance required by the mine vehicle from the receiving of the parking instruction to the full braking during the reversing process is 35 meters, so that the preset distance can be determined to be 1.7+35=36.7 meters, and the preset distance can be used as a standard for finally determining whether to control the mine vehicle to perform unloading parking. It should be noted that different types of mine vehicles have different wheel radii and braking distances due to different loading mass and braking modes, and any mine vehicle with any loading mass level is within the protection scope of the present application. Wherein, mining area vehicle includes mining haulage vehicle, and this mining haulage vehicle specifically includes: mine trucks, wide body cars, articulated mine cars, and the like.

Compared with the prior art that the unloading and parking of the mine vehicles are controlled based on the closest distance between the bottom surface of the retaining wall and the center of the rear axle of the vehicle body in the vehicle width direction right behind the mine vehicles, the unloading and parking method of the mine vehicles can obtain single-frame retaining wall point clouds output at different moments when the mine vehicles are backed and driven to the retaining wall; determining rear wheel area point clouds corresponding to a left rear wheel and a right rear wheel of the mining area vehicle close to one side of the retaining wall according to the single-frame retaining wall point clouds corresponding to different moments; meanwhile, determining a first fitting plane corresponding to a rear retaining wall area of the left rear wheel and a second fitting plane corresponding to a rear retaining wall area of the right rear wheel based on rear wheel area point clouds respectively corresponding to the left rear wheel and the right rear wheel; calculating a first distance between the wheel center of the left rear wheel and the first fitting plane and a second distance between the wheel center of the right rear wheel and the second fitting plane; and finally, controlling the unloading and parking of the mine vehicle according to the first distance and the second distance. According to the invention, the parking of the mining area vehicle is controlled mainly through the first distance between the left rear wheel and the first fitting plane of the retaining wall area behind the left rear wheel and the second distance between the right rear wheel and the second fitting plane of the retaining wall area behind the right rear wheel, so that even if the geometric shape of the retaining wall is irregular or the geometric shape of the retaining wall becomes irregular in the use process, the left rear wheel and the right rear wheel can be attached to the retaining wall as much as possible when the mining area vehicle is parked, the parking position precision of the mining area vehicle can be ensured, the situation that materials are poured into the unloading area due to the fact that the left rear wheel and the right rear wheel are parked in place is avoided, and the production safety is ensured.

Further, in order to better explain the above procedure for parking the mine vehicles, as a refinement and extension of the above embodiment, another unloading parking method for mine vehicles is provided in an embodiment of the present invention, as shown in fig. 2, and the method includes:

201. and acquiring single-frame retaining wall point clouds output at different moments in the process that the mining area vehicle backs and drives to the retaining wall.

As shown in FIG. 3, in the process of backing a mine vehicle, the longitudinal direction of the vehicle body is kept vertical to the retaining wall by default, the laser radar is installed above the center of the rear shaft of the mine vehicle, the x axis of the radar coordinate system is vertical to the retaining wall, the y axis of the radar coordinate system is vertical to the central axis of the vehicle body, the z axis of the radar coordinate system is vertical to the ground, and the scanning angle of the laser radar during working is set as

In the process of backing a vehicle in a mining area, the laser radar can collect radar point cloud data at different moments, and the sensing layer outputs single-frame point cloud data corresponding to different moments after processing the radar point cloud data. It should be noted that the directions of the x-axis, the y-axis, and the z-axis of the radar coordinate system may be set in other manners, and are not limited to the manners described above in the embodiments of the present invention.

202. And fusing the single-frame retaining wall point clouds corresponding to different moments to obtain a fused retaining wall point cloud.

The radar coordinate system changes along with the movement of the vehicle, and the single-frame retaining wall point clouds corresponding to different moments are substantially the coordinates of each scanning point under the radar coordinates of different moments. Taking a single-frame retaining wall point cloud under a first radar coordinate system at the current moment and a single-frame retaining wall point cloud under a second radar coordinate at the last moment corresponding to the current moment as an example, a fusion process of the two is described, and for an optional implementation manner of the fusion process, the method includes: acquiring vehicle positioning information of the mining area vehicle at the current moment and vehicle positioning information at the last moment; based on the vehicle positioning information at the previous moment, carrying out coordinate conversion on the single-frame retaining wall point cloud at the previous moment under a second radar coordinate system to obtain the single-frame retaining wall point cloud at the previous moment under a standard coordinate system; performing coordinate conversion on the single-frame barricade point cloud under the standard coordinate system at the previous moment based on the vehicle positioning information corresponding to the current moment to obtain the single-frame barricade point cloud under the first radar coordinate system at the previous moment; and fusing the single-frame retaining wall point cloud under the first radar coordinate system at the current moment and the single-frame retaining wall point cloud under the first radar coordinate system at the previous moment to obtain the fused retaining wall point cloud.

The positioning information of the mining area vehicle at the current time and the last time is high-precision GPS positioning information, namely the position information of the vehicle. Because the single-frame retaining wall point clouds corresponding to different moments are respectively data under different moment radar coordinate systems, when the single-frame retaining wall point clouds are fused, the single-frame retaining wall point clouds at different moments need to be unified to the same coordinate system. Specifically, when the single-frame point clouds at the current time and the previous time are fused, the single-frame barricade point cloud at the previous time under the second radar coordinate system is converted to the standard coordinate system according to the vehicle positioning information at the previous time and stored, the standard coordinate system can be the positioning coordinate system of the GPS system, then the single-frame barricade point cloud at the previous time under the standard coordinate system is converted to the first radar coordinate system at the current time based on the vehicle positioning information corresponding to the current time, and the single-frame barricade point cloud at the current time and the single-frame barricade point cloud at the previous time are both under the first radar coordinate system, so that the single-frame barricade point cloud at the current time and the single-frame barricade point cloud at the previous time can be fused to obtain the barricade point cloud fused at the current time.

Further, when the single-frame retaining wall point cloud corresponding to the next moment is obtained, the single-frame retaining wall point cloud corresponding to the next moment and the retaining wall point cloud fused at the current moment are unified to the same coordinate system for fusion according to the positioning information of the mining area vehicle at the next moment in the same manner, and therefore the retaining wall point cloud fused at the next moment is obtained. The single-frame retaining wall point cloud is generated in real time, the fusion process is also carried out in real time, and the parking distance is judged every time of fusion so as to judge whether to control unloading and parking of the mine vehicles in real time.

It should be noted that, although the sensing layer may output the single-frame barricade point clouds at different times in real time in the process of backing the vehicle in the mining area, because the output single-frame barricade point cloud has poor practicability when the distance from the barricade is close or far, in the embodiment of the present invention, only the single-frame barricade point cloud within a certain range is superimposed, for example, 20 frames of barricade point clouds in the range of 15 meters to 8 meters from the barricade of the vehicle in the mining area are obtained, and the 20 frames of barricade point clouds are fused according to the obtained time sequence, specifically, the first frame of barricade point cloud and the second frame of barricade point cloud are fused first, when the third frame of barricade point cloud is obtained, the barricade point cloud after the first two frames of barricade points are fused with the third frame of barricade point cloud, until the 20 frames of barricade point cloud are fused. Meanwhile, when fusion is carried out once, whether unloading and parking of vehicles in the mining area are controlled or not is judged based on the fused retaining wall point cloud.

In addition, when the distance between the mining area vehicle and the retaining wall is smaller than a certain value, because the single-frame retaining wall point cloud output at this moment may not contain the point cloud data in the complete vehicle width direction, the point cloud data is not used for superposition, so that whether the tramcar vehicle reaches the parking point can be continuously detected at this moment, the single-frame retaining wall point cloud under the radar coordinate system at this moment can be determined according to the historical data (the point cloud single-frame retaining wall point cloud stored at the last moment under the standard coordinate) and the currently acquired vehicle positioning information, that is, the single-frame retaining wall point cloud at this moment can still be obtained by converting the historical data, so that the fusion of the single-frame retaining wall point cloud can be continuously performed, and whether the mining area vehicle is controlled to unload and stop or not can be determined based on the fused retaining wall point cloud.

In a specific application scenario, in order to avoid explosive increase of data volume of the fused retaining wall point cloud, the fused retaining wall point cloud can be down-sampled after each fusion, and based on this, the method includes: and according to the distance between any two points in the fused retaining wall point cloud, down-sampling the fused retaining wall point cloud to obtain the sampled retaining wall point cloud.

Specifically, the distance between any two points in the fused retaining wall point cloud is calculated, and if the distance between any two points is smaller than the preset distance between the preset points, the distance between the two points is very short, and the two points are probably the same point, so that the two points are combined, namely only one of any two points is reserved, and therefore, through the downsampling process, the data volume of the fused retaining wall point cloud can be prevented from being suddenly increased. It should be noted that the preset inter-point distance may be set according to actual requirements.

203. And segmenting the fused retaining wall point cloud according to the width and the wheel center position information respectively corresponding to the left rear wheel and the right rear wheel to obtain rear wheel region point clouds respectively corresponding to the left rear wheel and the right rear wheel.

The wheel center position information refers to position coordinates of the left rear wheel and the right rear wheel in a radar coordinate system at the current moment respectively. In the embodiment of the invention, only the distance between the left rear wheel and the rear retaining wall thereof and the distance between the right rear wheel and the rear retaining wall thereof are concerned, so that the fused retaining wall point cloud is segmented according to the width and the wheel center position information corresponding to the left rear wheel to obtain the rear wheel area point cloud corresponding to the left rear wheel, and the fused retaining wall point cloud is segmented according to the width and the wheel center position information corresponding to the right rear wheel to obtain the rear wheel area point cloud corresponding to the right rear wheel, wherein the dotted point cloud is the rear wheel area point cloud as shown in fig. 4.

In a specific application scene, if the fused retaining wall point cloud is subjected to down-sampling treatment, the sampled retaining wall point cloud is segmented according to the width and the wheel center position information respectively corresponding to the left rear wheel and the right rear wheel, and rear wheel region point clouds respectively corresponding to the left rear wheel and the right rear wheel are obtained.

204. And determining a first fitting plane corresponding to the rear retaining wall area of the left rear wheel and a second fitting plane corresponding to the rear retaining wall area of the right rear wheel based on the rear wheel area point cloud corresponding to the left rear wheel and the right rear wheel respectively.

For the embodiment of the present invention, because noise exists in the point cloud of the rear wheel region, in order to ensure that the error between the fitted plane and the real shape of the retaining wall is as small as possible, a random sampling consensus algorithm may be used to fit a first fitted plane corresponding to the rear retaining wall region of the left rear wheel and a second fitted plane corresponding to the rear retaining wall region of the right rear wheel, and as an optional implementation manner, a specific process of determining the first fitted plane and the second fitted plane by using the random sampling consensus algorithm is used, the method includes: acquiring a first space plane model corresponding to a rear retaining wall area of the left rear wheel and a second space plane model corresponding to a rear retaining wall area of the right rear wheel; respectively screening a first data set and a second data set from the rear wheel region point cloud corresponding to the left rear wheel and the rear wheel region point cloud corresponding to the right rear wheel; respectively calculating a first parameter of the first space plane model and a second parameter of the second space plane model based on the first data set and the second data set, and respectively determining a first space plane and a second space plane according to the first parameter and the second parameter; substituting the rear wheel region point cloud corresponding to the left rear wheel into the first space plane, determining a first target point of which the error in the rear wheel region point cloud corresponding to the left rear wheel is within a preset range, substituting the rear wheel region point cloud corresponding to the right rear wheel into the second space plane, and determining a second target point of which the error in the rear wheel region point cloud corresponding to the right rear wheel is within the preset range; and repeating the processes of screening the first data set and the second data set and determining the first spatial plane and the second spatial plane based on the first target point and the second target point, and determining the first fitting plane and the second fitting plane from the plurality of first spatial planes and the plurality of second spatial planes respectively when a preset iteration number is reached.

Specifically, a plane fitting process is explained in detail by taking a first fitting plane as an example, a first space plane model ax + by + cz + d = 0 corresponding to a rear retaining wall region of a left rear wheel is firstly constructed, and since spatial coordinates of at least 4 points are required for determining first parameters a, b, c and d in the model, 4 points can be randomly extracted from a point cloud of the rear wheel region corresponding to the left rear wheel as a first data set, and the first parameters a, b, c and d in the first space plane model are solved according to the first data set, so that the first space plane can be determined. And then substituting all point coordinates in the point cloud of the rear wheel region corresponding to the left rear wheel into the first space plane, and determining a first target point with an error within a preset range, wherein the preset range can be set according to actual requirements, and if the first target point with an error smaller than 0.1 is set and selected. Further, the above process is repeated, 4 points are randomly selected from the first target points to serve as a first data set, a first spatial plane is determined according to the first data set, after multiple iterations, multiple first spatial planes can be obtained, the first spatial plane which can obtain the most supports is screened out from the multiple first spatial planes, that is, the first spatial plane with the largest number of first target points is screened out, and the first spatial plane is determined to be a first fitting plane. Similarly, according to the above manner, a second fitting plane corresponding to the rear retaining wall area of the right rear wheel can be determined according to the rear wheel area point cloud corresponding to the right rear wheel.

205. Calculating a first distance between a wheel center of the left rear wheel and the first fitting plane, and a second distance between a wheel center of the right rear wheel and the second fitting plane.

For the embodiment of the present invention, in order to calculate a first distance between the left rear wheel and the first fitting plane and a second distance between the right rear wheel and the second fitting plane, step 205 specifically includes: respectively fitting a first symmetrical plane corresponding to the left rear wheel and a second symmetrical plane corresponding to the right rear wheel; respectively determining a first intersection line of the first fitting plane and the first symmetric plane and a second intersection line of the second fitting plane and the second symmetric plane; and respectively calculating a first distance between the wheel center of the left rear wheel and the first intersection line and a second distance between the wheel center of the right rear wheel and the second intersection line.

Specifically, the left side in fig. 4 is the position relationship between the wheel and the retaining wall during the backing process of the mine vehicle, but the shape of the retaining wall is not so standard in the actual production process, the shape of the retaining wall is very irregular under the influence of the unloading process, the fitted plane is not even perpendicular to the symmetry plane of the wheel, and the dotted line mn in fig. 4 is the projection of the symmetry plane of the wheel on the ground. In order to calculate the first distance between the left rear wheel and the first fitting plane and the second distance between the right rear wheel and the second fitting plane, it is necessary to first fit a first symmetry plane corresponding to the left rear wheel according to the position coordinate of the center of wheel of the left rear wheel in the radar coordinate system at the current time, for example, the coordinate of the center of wheel of the left rear wheel on the y-axis is e, and it may be determined that the spatial plane expression of the first symmetry plane of the left rear wheel in the lidar coordinate system at the current time is y = e. Further, a first intersection line of the first symmetric plane of the left rear wheel and the first fitting plane is determined by simultaneously establishing a spatial plane expression ax + by + cz + d = 0 corresponding to the first fitting plane and a spatial plane expression y = e corresponding to the first symmetric plane, where the spatial expression of the first intersection line is specifically: ax + cz + f = 0, wherein f = be + d, since the parameters a, b, c and d of the first fitted plane and the parameter e of the first plane of symmetry are known, a first intersection expression of the first fitted plane and the first plane of symmetry can be determined. Similarly, according to the above mode, a second symmetric plane corresponding to the right rear wheel can be fitted, and a second intersection line of the second fitted plane and the second symmetric plane is determined.

Further, after determining a first intersection of the first fitted plane with the first plane of symmetry and a second intersection of the second fitted plane with the second plane of symmetry, the distance between the left rear wheel and the first fitted plane may be determined by calculating a first distance between the center of the wheel of the left rear wheel and the first intersection. Specifically, when the first distance between the wheel center of the left rear wheel and the first intersection line is calculated, the calculation may be performed according to the following distance formula from the point to the straight line:

wherein dis is a first distance between the wheel center of the left rear wheel and a first intersection line, and the position coordinate of the wheel center of the left rear wheel under the radar coordinate system at the current moment is (x)₁,y₁,z₁) The expression of the first intersection line is ax + cz + f = 0. Similarly, according to the formula, the second distance between the wheel center of the right rear wheel and the second intersection line can be calculated. By calculating the first distance and the second distance, the distance between the left rear wheel and the rear retaining wall thereof can be determined,and the distance between the right rear wheel and the rear retaining wall thereof.

206. And controlling the unloading and parking of the mine vehicle according to the first distance and the second distance.

In order to ensure the parking position accuracy of the mine vehicle, the embodiment of the invention may determine whether to control the mine vehicle to unload and stop at present according to the distance between the left rear wheel and the rear retaining wall thereof and the distance between the right rear wheel and the rear retaining wall thereof, and the specific process of controlling the mine vehicle to unload and stop based on the first distance and the second distance is completely the same as that in step 105, and is not described herein again.

Compared with the prior art that the unloading and parking of the mine vehicles are controlled based on the closest distance between the bottom surface of the retaining wall and the center of the rear axle of the vehicle body in the vehicle width direction right behind the mine vehicles, the unloading and parking method of the mine vehicles can obtain single-frame retaining wall point clouds output at different moments when the mine vehicles are backed and driven to the retaining wall; determining rear wheel region point clouds respectively corresponding to a left rear wheel and a right rear wheel of the mining area vehicle, which are close to one side of the retaining wall, according to the single-frame retaining wall point clouds corresponding to different moments; meanwhile, determining a first fitting plane corresponding to a rear retaining wall area of the left rear wheel and a second fitting plane corresponding to a rear retaining wall area of the right rear wheel based on rear wheel area point clouds respectively corresponding to the left rear wheel and the right rear wheel; calculating a first distance between the wheel center of the left rear wheel and the first fitting plane and a second distance between the wheel center of the right rear wheel and the second fitting plane; and finally, controlling the unloading and parking of the mine vehicle according to the first distance and the second distance. According to the invention, the parking of the mining area vehicle is controlled mainly through the first distance between the left rear wheel and the first fitting plane of the retaining wall area behind the left rear wheel and the second distance between the right rear wheel and the second fitting plane of the retaining wall area behind the right rear wheel, so that even if the geometric shape of the retaining wall is irregular or the geometric shape of the retaining wall becomes irregular in the use process, the left rear wheel and the right rear wheel can be attached to the retaining wall as much as possible when the mining area vehicle is parked, the parking position precision of the mining area vehicle can be ensured, the situation that materials are poured into the unloading area due to the fact that the left rear wheel and the right rear wheel are parked in place is avoided, and the production safety is ensured.

Further, as a specific implementation of fig. 1, an unloading parking device for mine vehicles is provided in an embodiment of the present invention, as shown in fig. 5, the device includes: an acquisition unit 31, a first determination unit 32, a second determination unit 33, a calculation unit 34, and a control unit 35.

The obtaining unit 31 may be configured to obtain a single-frame retaining wall point cloud output at different times during the process of backing up and driving to the retaining wall for the mine vehicle.

The first determining unit 32 may be configured to determine, according to the single-frame retaining wall point clouds corresponding at different times, rear wheel area point clouds corresponding to a left rear wheel and a right rear wheel on a side of the retaining wall where the mining area vehicle is close to.

The second determining unit 33 may be configured to determine a first fitting plane corresponding to the rear retaining wall region of the left rear wheel and a second fitting plane corresponding to the rear retaining wall region of the right rear wheel based on the rear wheel region point clouds corresponding to the left rear wheel and the right rear wheel respectively.

The calculating unit 34 may be configured to calculate a first distance between the wheel center of the left rear wheel and the first fitting plane, and a second distance between the wheel center of the right rear wheel and the second fitting plane.

The control unit 35 may be configured to control the unloading stop of the mine vehicle according to the first distance and the second distance.

In a specific application scenario, as shown in fig. 6, the first determining unit 32 includes: a fusion module 321 and a segmentation module 322.

The fusion module 321 may be configured to fuse the single-frame retaining wall point clouds corresponding to different times to obtain a fused retaining wall point cloud.

The segmentation module 322 may be configured to segment the fused retaining wall point cloud according to the width and the wheel center position information respectively corresponding to the left rear wheel and the right rear wheel, so as to obtain the rear wheel region point cloud respectively corresponding to the left rear wheel and the right rear wheel.

Further, the single-frame barricade point clouds corresponding to different times include a single-frame barricade point cloud at a current time under a first radar coordinate system and a single-frame barricade point cloud at a previous time under a second radar coordinate corresponding to the current time, and the fusion module 321 may be specifically configured to obtain vehicle positioning information of the mine vehicle at the current time and vehicle positioning information at the previous time; based on the vehicle positioning information at the previous moment, carrying out coordinate conversion on the single-frame retaining wall point cloud at the previous moment under a second radar coordinate system to obtain the single-frame retaining wall point cloud at the previous moment under a standard coordinate system; based on the vehicle positioning information corresponding to the current moment, carrying out coordinate conversion on the single-frame barricade point cloud of the previous moment under a standard coordinate system to obtain the single-frame barricade point cloud of the previous moment under a first radar coordinate system; and fusing the single-frame retaining wall point cloud under the first radar coordinate system at the current moment and the single-frame retaining wall point cloud under the first radar coordinate system at the previous moment to obtain the fused retaining wall point cloud.

In a specific application scenario, the first determining unit 32 further includes: a sampling module 323.

The sampling module 323 can be used for performing down-sampling on the fused retaining wall point cloud according to the distance between any two points in the fused retaining wall point cloud to obtain the sampled retaining wall point cloud.

The segmentation module 322 may be specifically configured to segment the sampled retaining wall point cloud according to the width and the wheel center position information respectively corresponding to the left rear wheel and the right rear wheel, so as to obtain rear wheel area point clouds respectively corresponding to the left rear wheel and the right rear wheel.

In a specific application scenario, the second determining unit 33 includes: an obtaining module 331, a screening module 332, a first calculating module 333, and a first determining module 334.

The obtaining module 331 may be configured to obtain a first spatial plane model corresponding to the rear retaining wall area of the left rear wheel, and a second spatial plane model corresponding to the rear retaining wall area of the right rear wheel.

The screening module 332 may be configured to screen a first data set and a second data set from the point cloud of the rear wheel region corresponding to the left rear wheel and the point cloud of the rear wheel region corresponding to the right rear wheel respectively.

The first calculating module 333 may be configured to calculate a first parameter of the first spatial plane model and a second parameter of the second spatial plane model based on the first data set and the second data set, respectively, and determine a first spatial plane and a second spatial plane according to the first parameter and the second parameter, respectively.

The first determining module 334 may be configured to substitute the point cloud of the rear wheel region corresponding to the left rear wheel into the first spatial plane, determine a first target point of the error in the point cloud of the rear wheel region corresponding to the left rear wheel within a preset range, substitute the point cloud of the rear wheel region corresponding to the right rear wheel into the second spatial plane, and determine a second target point of the error in the point cloud of the rear wheel region corresponding to the right rear wheel within the preset range.

The first determining module 334 may be further configured to repeat the processes of screening the first data set and the second data set and determining the first spatial plane and the second spatial plane based on the first target point and the second target point, and determine the first fitting plane and the second fitting plane from the plurality of first spatial planes and the plurality of second spatial planes, respectively, when a preset number of iterations is reached.

In a specific application scenario, the calculating unit 34 includes: a fitting module 341, a second determining module 342 and a second calculating module 343.

The fitting module 341 may be configured to respectively fit a first symmetric plane corresponding to the left rear wheel and a second symmetric plane corresponding to the right rear wheel.

The second determining module 342 may be configured to determine a first intersection line of the first fitting plane and the first symmetry plane, and a second intersection line of the second fitting plane and the second symmetry plane, respectively.

The second calculating module 343 may be configured to calculate a first distance between the wheel center of the left rear wheel and the first intersection line, and a second distance between the wheel center of the right rear wheel and the second intersection line, respectively.

In a specific application scenario, the control unit 35 includes: a third determination module 351 and a decision module 352.

The third determining module 351 may be configured to use a smaller distance of the first distance and the second distance as the target distance.

The determining module 352 may be configured to determine whether the target distance is smaller than a preset distance.

The third determining module 351 may be further configured to determine that the mine vehicle has reached a parking spot if the target distance is smaller than the preset distance, and control the mine vehicle to unload and stop.

Further, the control unit 35 further includes: an acquisition module 353 and an addition module 354.

The obtaining module 353 may be configured to obtain a wheel radius corresponding to the mine vehicle and a braking distance required by the mine vehicle from the receiving of the parking instruction to the full braking.

The adding module 354 may be configured to add the wheel radius and the braking distance to obtain the preset distance.

It should be noted that other corresponding descriptions of the functional modules involved in the unloading and parking device for mine vehicles according to the embodiment of the present invention may refer to the corresponding description of the method shown in fig. 1, and are not repeated herein.

Based on the method shown in fig. 1, correspondingly, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the following steps: acquiring single-frame retaining wall point clouds output at different moments when a mining area vehicle backs and drives to a retaining wall; determining rear wheel region point clouds respectively corresponding to a left rear wheel and a right rear wheel of the mining area vehicle, which are close to one side of the retaining wall, according to the single-frame retaining wall point clouds corresponding to different moments; determining a first fitting plane corresponding to a rear retaining wall area of the left rear wheel and a second fitting plane corresponding to a rear retaining wall area of the right rear wheel based on rear wheel area point clouds respectively corresponding to the left rear wheel and the right rear wheel; calculating a first distance between the center of the left rear wheel and the first fitting plane, and a second distance between the center of the right rear wheel and the second fitting plane; and controlling the unloading and parking of the mine vehicle according to the first distance and the second distance.

Based on the above embodiments of the method shown in fig. 1 and the apparatus shown in fig. 5, an embodiment of the present invention further provides an entity structure diagram of a computer device, as shown in fig. 7, where the computer device includes: a processor 41, a memory 42, and a computer program stored on the memory 42 and executable on the processor, wherein the memory 42 and the processor 41 are both arranged on a bus 43 such that when the processor 41 executes the program, the following steps are performed: acquiring single-frame retaining wall point clouds output at different moments when a mining area vehicle backs and drives to a retaining wall; determining rear wheel region point clouds respectively corresponding to a left rear wheel and a right rear wheel of the mining area vehicle, which are close to one side of the retaining wall, according to the single-frame retaining wall point clouds corresponding to different moments; determining a first fitting plane corresponding to a rear retaining wall area of the left rear wheel and a second fitting plane corresponding to a rear retaining wall area of the right rear wheel based on rear wheel area point clouds respectively corresponding to the left rear wheel and the right rear wheel; calculating a first distance between the center of the left rear wheel and the first fitting plane, and a second distance between the center of the right rear wheel and the second fitting plane; and controlling the unloading and parking of the mine vehicle according to the first distance and the second distance.

By the technical scheme, the single-frame retaining wall point cloud output at different moments in the process that the mine vehicle backs and drives to the retaining wall can be obtained; determining rear wheel region point clouds respectively corresponding to a left rear wheel and a right rear wheel of the mining area vehicle, which are close to one side of the retaining wall, according to the single-frame retaining wall point clouds corresponding to different moments; meanwhile, determining a first fitting plane corresponding to a rear retaining wall area of the left rear wheel and a second fitting plane corresponding to a rear retaining wall area of the right rear wheel based on rear wheel area point clouds respectively corresponding to the left rear wheel and the right rear wheel; calculating a first distance between the wheel center of the left rear wheel and the first fitting plane and a second distance between the wheel center of the right rear wheel and the second fitting plane; and finally, controlling the unloading and parking of the mine vehicle according to the first distance and the second distance. According to the invention, the parking of the mining area vehicle is controlled mainly through the first distance between the left rear wheel and the first fitting plane of the retaining wall area behind the left rear wheel and the second distance between the right rear wheel and the second fitting plane of the retaining wall area behind the right rear wheel, so that even if the geometric shape of the retaining wall is irregular or the geometric shape of the retaining wall becomes irregular in the use process, the left rear wheel and the right rear wheel can be attached to the retaining wall as much as possible when the mining area vehicle is parked, the parking position precision of the mining area vehicle can be ensured, the situation that materials are poured into the unloading area due to the fact that the left rear wheel and the right rear wheel are parked in place is avoided, and the production safety is ensured.

Fig. 8 is a schematic structural diagram of a chip according to an embodiment of the present invention, and as shown in fig. 8, the chip 500 includes one or more than two (including two) processors 510 and a communication interface 530. The communication interface 530 is coupled to the at least one processor 510, and the at least one processor 510 is configured to execute a computer program or instructions to implement the unloading parking method for mine vehicles according to the first embodiment and the second embodiment.

Preferably, the memory 540 stores the following elements: an executable module or a data structure, or a subset thereof, or an expanded set thereof.

In an embodiment of the invention, memory 540 may include both read-only memory and random access memory and provide instructions and data to processor 510. A portion of memory 540 may also include non-volatile random access memory (NVRAM).

In an embodiment of the present invention, memory 540, communication interface 530, and memory 540 are coupled together by bus system 520. The bus system 520 may include a power bus, a control bus, a status signal bus, and the like, in addition to the data bus. For ease of description, the various buses are labeled as bus system 520 in FIG. 8.

The method described in the embodiments of the present application may be applied to the processor 510, or implemented by the processor 510. Processor 510 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by instructions in the form of hardware integrated logic circuits or software in the processor 510. The processor 510 may be a general-purpose processor (e.g., a microprocessor or a conventional processor), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an FPGA (field-programmable gate array) or other programmable logic device, discrete gate, transistor logic device or discrete hardware component, and the processor 510 may implement or execute the methods, steps and logic blocks disclosed in the embodiments of the present invention.

Fig. 9 is a schematic structural diagram of a terminal according to an embodiment of the present invention, and as shown in fig. 9, the terminal 600 includes the unloading docking device 100 for the mine vehicle.

The terminal 600 may perform the method described in the above embodiment through the unloading docking device 100 of the mine vehicle. It can be understood that the implementation manner of the terminal 600 controlling the unloading docking device 100 of the mine vehicle can be set according to an actual application scenario, and the embodiment of the present application is not particularly limited.

The terminal 600 includes but is not limited to: the vehicle can implement the method provided by the application through the vehicle-mounted terminal, the vehicle-mounted controller, the vehicle-mounted module, the vehicle-mounted component, the vehicle-mounted chip, the vehicle-mounted unit, the vehicle-mounted radar or the camera.

The terminal in the embodiment of the invention is used as a control or adjustment system for executing non-electric variables, and the non-electric variables such as the speed, the displacement and the like of the vehicle are controlled or adjusted, so that the accurate parking of the vehicle in the mining area in the unloading area is realized.

It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An unloading parking method for mine vehicles, which is characterized by comprising the following steps:

calculating a first distance between the center of the left rear wheel and the first fitting plane, and a second distance between the center of the right rear wheel and the second fitting plane;

controlling the mine vehicle to unload and stop according to the first distance and the second distance;

wherein, according to the single frame barricade point cloud that the different moments correspond confirms mining area vehicle is close to the rear wheel regional point cloud that left rear wheel and right rear wheel on barricade one side correspond respectively includes:

fusing the single-frame retaining wall point clouds corresponding to different moments to obtain fused retaining wall point clouds;

dividing the fused retaining wall point cloud according to the width and the wheel center position information respectively corresponding to the left rear wheel and the right rear wheel to obtain rear wheel region point clouds respectively corresponding to the left rear wheel and the right rear wheel;

will single frame barricade point cloud that different moments correspond fuses, obtains the barricade point cloud after fusing, includes:

carrying out coordinate transformation on the single-frame retaining wall point cloud under the second radar coordinate system at the previous moment to obtain a single-frame current point cloud under the first radar coordinate system at the previous moment;

and fusing the single-frame retaining wall point cloud under the first radar coordinate system at the current moment and the single-frame retaining wall point cloud under the first radar coordinate system at the previous moment to obtain the fused retaining wall point cloud.

2. The method of claim 1, wherein performing coordinate transformation on the previous moment in the second radar coordinate system to obtain the previous moment in the first radar coordinate system, comprises:

acquiring vehicle positioning information of the mining area vehicle at the current moment and vehicle positioning information at the last moment;

based on the vehicle positioning information of the previous moment, carrying out coordinate conversion on the single-frame barricade point cloud of the previous moment under a second radar coordinate system to obtain the single-frame barricade point cloud of the previous moment under a standard coordinate system;

and carrying out coordinate conversion on the single-frame retaining wall point cloud under the standard coordinate system at the previous moment based on the vehicle positioning information corresponding to the current moment to obtain the single-frame retaining wall point cloud under the first radar coordinate system at the previous moment.

3. The method according to claim 1, wherein after the fusing the corresponding single-frame retaining wall point clouds at different times to obtain the fused retaining wall point cloud, the method further comprises:

according to the distance between any two points in the fused retaining wall point cloud, down-sampling the fused retaining wall point cloud to obtain a sampled retaining wall point cloud;

dividing the fused retaining wall point cloud according to the width and the wheel center position information respectively corresponding to the left rear wheel and the right rear wheel to obtain rear wheel region point clouds respectively corresponding to the left rear wheel and the right rear wheel, and the method comprises the following steps:

and segmenting the sampled retaining wall point cloud according to the width and the wheel center position information respectively corresponding to the left rear wheel and the right rear wheel to obtain rear wheel area point clouds respectively corresponding to the left rear wheel and the right rear wheel.

4. The method according to claim 1, wherein the determining a first fitting plane corresponding to a rear wall area of the left rear wheel and a second fitting plane corresponding to a rear wall area of the right rear wheel based on the rear wheel area point cloud corresponding to the left rear wheel and the right rear wheel respectively comprises:

acquiring a first space plane model corresponding to a rear retaining wall area of the left rear wheel and a second space plane model corresponding to a rear retaining wall area of the right rear wheel;

respectively screening a first data set and a second data set from the rear wheel region point cloud corresponding to the left rear wheel and the rear wheel region point cloud corresponding to the right rear wheel;

respectively calculating a first parameter of the first space plane model and a second parameter of the second space plane model based on the first data set and the second data set, and respectively determining a first space plane and a second space plane according to the first parameter and the second parameter;

substituting the rear wheel area point cloud corresponding to the left rear wheel into the first space plane, determining a first target point of which the error in the rear wheel area point cloud corresponding to the left rear wheel is within a preset range, substituting the rear wheel area point cloud corresponding to the right rear wheel into the second space plane, and determining a second target point of which the error in the rear wheel area point cloud corresponding to the right rear wheel is within the preset range;

and repeating the processes of screening the first data set and the second data set and determining the first spatial plane and the second spatial plane based on the first target point and the second target point, and determining the first fitting plane and the second fitting plane from the plurality of first spatial planes and the plurality of second spatial planes respectively when a preset iteration number is reached.

5. The method of claim 1, wherein the calculating a first distance between a center of wheel of the left rear wheel and the first plane of fit and a second distance between a center of wheel of the right rear wheel and the second plane of fit comprises:

respectively fitting a first symmetrical plane corresponding to the left rear wheel and a second symmetrical plane corresponding to the right rear wheel;

respectively determining a first intersection line of the first fitting plane and the first symmetric plane and a second intersection line of the second fitting plane and the second symmetric plane;

and respectively calculating a first distance between the wheel center of the left rear wheel and the first intersection line and a second distance between the wheel center of the right rear wheel and the second intersection line.

6. The method according to any one of claims 1 to 5, wherein said controlling said mine vehicle unloading stop according to said first distance and said second distance comprises:

taking the smaller distance of the first distance and the second distance as a target distance;

judging whether the target distance is smaller than a preset distance or not;

and if the target distance is smaller than the preset distance, determining that the mining area vehicle has reached a parking point, and controlling the mining area vehicle to unload and stop.

7. The method of claim 6, wherein prior to said determining whether said target distance is less than a preset distance, said method further comprises:

obtaining the wheel radius corresponding to the mining area vehicle and the braking distance required by the mining area vehicle from the receiving of a parking instruction to the complete braking;

and adding the wheel radius and the braking distance to obtain the preset distance.

8. An unloading dock for a mine vehicle, comprising:

the acquisition unit is used for acquiring single-frame retaining wall point clouds output at different moments in the process that vehicles in a mining area drive to the retaining wall in a backing mode;

a calculating unit configured to calculate a first distance between a wheel center of the left rear wheel and the first fitting plane, and a second distance between a wheel center of the right rear wheel and the second fitting plane;

the control unit is used for controlling the unloading and parking of the mine vehicles according to the first distance and the second distance;

a first determination unit comprising a fusion module and a segmentation module,

the fusion module is used for fusing the single-frame retaining wall point clouds corresponding to different moments to obtain fused retaining wall point clouds;

the segmentation module is used for segmenting the fused retaining wall point cloud according to the width and the wheel center position information respectively corresponding to the left rear wheel and the right rear wheel to obtain rear wheel region point clouds respectively corresponding to the left rear wheel and the right rear wheel;

the fusion module is specifically used for carrying out coordinate transformation on the single-frame retaining wall point cloud under the second radar coordinate system at the previous moment to obtain a single-frame current point cloud under the first radar coordinate system at the previous moment; and fusing the single-frame retaining wall point cloud under the first radar coordinate system at the current moment and the single-frame retaining wall point cloud under the first radar coordinate system at the previous moment to obtain the fused retaining wall point cloud.

9. A chip, characterized in that it comprises at least one processor and a communication interface, said communication interface being coupled to said at least one processor, said at least one processor being adapted to run a computer program or instructions to implement the method of unloading a mine vehicle according to any one of claims 1 to 7.

10. A terminal, characterized in that it comprises an unloading stop for mine vehicles according to claim 8.

11. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the computer program realizes the steps of the method of any of claims 1 to 7 when executed by the processor.

12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.