CN115271566B - Method and device for generating soil discharge positions, electronic equipment and storage medium - Google Patents

Abstract

The disclosure relates to the technical field of mining, and provides a method and a device for generating a soil discharge position, electronic equipment and a storage medium. The method for generating the soil discharge position is applied to unmanned vehicles, namely unmanned equipment or automatic driving equipment, and comprises the following steps: receiving a soil discharge position generation request, wherein the soil discharge position generation request is used for requesting generation of a new soil discharge position resource and carries a soil discharge line trimming mode and point cloud data of a trimmed soil discharge line; updating the soil discharge line vector data based on the point cloud data of the trimmed soil discharge lines to obtain updated soil discharge line vector data; calculating the number of finally generated soil discharge positions based on the updated soil discharge line vector data; and generating new dumping position resources based on the trimming mode of the dumping lines and the finally generated number of the dumping positions. The method and the device can determine the number of the soil discharge positions based on the updated vector data of the soil discharge lines, and generate new soil discharge position resources based on the number of the soil discharge positions and the soil discharge line trimming mode, so that the efficiency and the safety of soil discharge operation are improved.

Description

Method and device for generating soil discharge positions, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of mining technologies, and in particular, to a method and an apparatus for generating a dump position, an electronic device, and a computer-readable storage medium.

Background

The excavation mode of the strip mine needs to peel off earth and stones on the surface layer to expose a mine layer for excavation, and the peeled earth and stones are transported to a dumping yard through a mine car and are dumped at a specified dumping position. Since the early years were limited by the excavation equipment, all operations of the strip mine were performed manually for a considerable period of time.

With the advance of industrial automation and the development of unmanned technology, the application of unmanned mine cars is in return, and more unmanned mine cars are applied to the dumping operation of an open pit dump.

In the prior art, when an unmanned mine car carries out the dumping operation, the unmanned mine car must depend on a pre-generated dumping position to dump earthwork. When the earth discharge line of the strip mine earth discharge site changes, a new earth discharge position for the unmanned mine car to accurately stop cannot be generated based on the updated earth discharge line vector, so that the efficiency and the safety of earth discharge operation are influenced.

Disclosure of Invention

In view of this, the embodiments of the present disclosure provide a method and an apparatus for generating a dumping position, an electronic device, and a computer-readable storage medium, so as to solve the problem that in the prior art, when a dumping line of a strip mine dumping ground changes, a new dumping position for an unmanned mine car to accurately stop cannot be generated based on an updated dumping line vector, and therefore, the efficiency and the safety of dumping operation are affected.

In a first aspect of the embodiments of the present disclosure, a method for generating a dumping position is provided, including: receiving a soil discharge position generation request, wherein the soil discharge position generation request is used for requesting generation of a new soil discharge position resource and carries a soil discharge line trimming mode and point cloud data of a trimmed soil discharge line; updating the earth discharge line vector data based on the point cloud data of the trimmed earth discharge line to obtain updated earth discharge line vector data; calculating the number of finally generated soil discharge positions based on the updated soil discharge line vector data; and generating new discharging position resources based on the trimming mode of the discharging line and the finally generated discharging position quantity.

In a second aspect of the embodiments of the present disclosure, there is provided a soil discharge position generating apparatus, including: the system comprises a receiving module, a data processing module and a data processing module, wherein the receiving module is configured to receive a soil discharge position generation request, and the soil discharge position generation request is used for requesting generation of a new soil discharge position resource and carries a soil discharge line trimming mode and point cloud data of a trimmed soil discharge line; the updating module is configured to update the discharging line vector data based on the repaired point cloud data of the discharging line to obtain updated discharging line vector data; a calculation module configured to calculate the number of soil discharge positions to be finally generated based on the updated soil discharge line vector data; and the generation module is configured to generate new discharging position resources based on the trimming mode of the discharging line and the finally generated discharging position number.

In a third aspect of the disclosed embodiments, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method when executing the computer program.

In a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, in which a computer program is stored, which when executed by a processor implements the steps of the above-mentioned method.

The embodiment of the present disclosure adopts at least one technical scheme that can achieve the following beneficial effects: the method comprises the steps of receiving a soil discharge position generation request, wherein the soil discharge position generation request is used for requesting generation of a new soil discharge position resource and carries a soil discharge line trimming mode and point cloud data of a trimmed soil discharge line; updating the soil discharge line vector data based on the point cloud data of the trimmed soil discharge lines to obtain updated soil discharge line vector data; calculating the number of finally generated soil discharge positions based on the updated soil discharge line vector data; the new discharging position resource is generated based on the discharging position trimming mode and the finally generated discharging position quantity, the discharging position quantity can be determined based on the updated discharging line vector data when the discharging line of the strip mine discharging yard changes, and the new discharging position resource is generated based on the discharging position quantity and the discharging line trimming mode, so that the efficiency and the safety of the discharging operation are improved.

Drawings

To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive efforts.

Fig. 1 is a schematic flow chart of a method for generating a soil discharge position according to an embodiment of the present disclosure.

Fig. 2 is a diagram illustrating a soil discharge position generating effect of a single soil discharge section related to a soil discharge position generating method in an actual application scenario according to an embodiment of the present disclosure.

Fig. 3 is a diagram illustrating a soil discharge position generating effect of two adjacent soil discharge sections involved in a soil discharge position generating method provided by the embodiment of the disclosure in an actual application scenario.

Fig. 4 is a schematic flow chart of another method for generating a soil discharge position according to the embodiment of the disclosure.

Fig. 5 is a schematic structural diagram of a soil discharge position generating device according to an embodiment of the present disclosure.

Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at" \8230; "or" when 8230; \8230; "or" in response to a determination ", depending on the context.

A method and apparatus for generating a soil discharge position according to an embodiment of the present disclosure will be described in detail with reference to the accompanying drawings.

Fig. 1 is a schematic flow chart of a method for generating a soil discharge position according to an embodiment of the present disclosure. The ranking generation method of fig. 1 may be performed by a server or an electronic device. As shown in fig. 1, the method for generating a soil discharge position includes:

s101, receiving a soil discharge position generation request, wherein the soil discharge position generation request is used for requesting generation of a new soil discharge position resource and carries a soil discharge line trimming mode and point cloud data of a trimmed soil discharge line;

s102, updating the soil discharging line vector data based on the point cloud data of the trimmed soil discharging line to obtain updated soil discharging line vector data;

s103, calculating the number of finally generated soil discharge positions based on the updated soil discharge line vector data;

and S104, generating new discharging position resources based on the trimming mode of the discharging line and the finally generated discharging position quantity.

Specifically, taking a server as an example, when the dumping operation is completed and the dumping site resources in the operation area are exhausted or are about to be exhausted, the server schedules a first vehicle to carry out overall or local trimming on the current dumping line, and schedules a second vehicle to acquire point cloud data of the trimmed dumping line; the second vehicle uploads the collected point cloud data to the server and sends a request to the server to generate a new discharging position resource and a discharging position generating request carrying a discharging line trimming mode; further, after receiving the request for generating the discharging position, the server updates the discharging line vector data of the current discharging line based on the point cloud data uploaded by the second vehicle, calculates the number of finally generated discharging positions based on the updated discharging line vector data, and generates a new discharging position resource based on the discharging line trimming mode and the number of finally generated discharging positions.

Here, the server may be one server, a server cluster or a distributed system composed of several servers, or may also be one cloud computing service center, which is not limited in this disclosure. Preferably, in the embodiment of the present disclosure, the server is a cloud server, that is, a device running in the cloud and capable of providing basic cloud computing services such as a cloud database, cloud storage, cloud computing, cloud communication, and the like.

The activity may be various social activities that result in a change in terrain, including but not limited to: road construction (affecting the flatness of the ground, etc.), placing objects in specific areas (increasing the height of partial areas), removing objects from specific areas (decreasing the height of partial areas), inducing road surface topography variations (partial areas being concave or convex) when moving. The discharging work is a work for discharging a peeled object such as a square earth or stone toward a discharging yard.

The working area may be in a closed space, may be in an open space, or may be a space environment where a road is not opened. The enclosed space may be, for example, an open mine environment, where the open mine earthwork operations primarily include earthwork loading at a loading area, road transport, and earthwork unloading at a dump, etc. In the disclosed embodiments, the work area refers to an area where the first vehicle and/or the second vehicle are located during loading, transportation, dumping, etc. operations performed in the strip mine.

The first vehicle may be a general vehicle having functions of shoveling gravel, pushing soil, scraping ground, and the like, or may be a vehicle having the above functions and having an autonomous driving function, which is not limited in the embodiments of the present disclosure. Preferably, in the disclosed embodiment, the first vehicle is a forklift or an unmanned forklift for trimming the retaining wall topography of the target area to meet the retaining wall specification requirements for enabling the earth removal operation.

The second vehicle may be a common vehicle having a data acquisition function, may also be a vehicle having a data acquisition function and an autonomous driving function, or may also be an autonomous driving fleet composed of vehicles having an autonomous driving function, which is not limited in this disclosure. Preferably, in the embodiment of the present disclosure, the second vehicle is an unmanned or autonomous mine car equipped with a laser radar, a millimeter wave radar, an ultrasonic radar, or a camera, and is configured to collect point cloud data of the trimmed retaining wall terrain.

The first vehicle and the second vehicle may be the same or different, for example, both the first vehicle and the second vehicle may be a forklift truck with an onboard lidar sensor mounted thereon, or the first vehicle may be a forklift truck and the second vehicle may be an unmanned mine car with an onboard lidar sensor mounted thereon. The unmanned mine car will be described as an example. In addition, the number of the first vehicles and the second vehicles may be adjusted according to actual requirements of an application scenario, which is not limited in the embodiment of the disclosure.

The point cloud data refers to a three-dimensional point data set of the target appearance surface obtained by a measuring instrument, wherein the measuring instrument can include but is not limited to laser radar, millimeter wave radar, ultrasonic radar, camera equipment and the like. In the embodiment of the present disclosure, the point cloud data refers to a three-dimensional point data set of the appearance surface after the earth discharge position is unloaded.

The soil discharging line is a curve and comprises at least one soil discharging section. It should be noted that, in the process of performing the dumping operation, the unmanned mine car performs the dumping of the earthwork stone based on the dumping position on the current dumping line, and after the dumping position is used up, the forklift needs to trim the retaining wall, then calculates a new dumping line, and plans the new dumping position based on the new dumping line, so in the embodiment of the present disclosure, the current dumping line is known.

Vectors are also called vectors and refer to quantities with both magnitude and direction. The vector data is data representing the position and shape of a map graphic or a geographic entity in x and y coordinates in rectangular coordinates. Vector data generally represent the spatial position of a geographic entity as accurately as possible by recording coordinates. The earth discharge line vector data refers to accurate earth discharge line boundary information, including but not limited to earth discharge line length, earth discharge line number, and earth discharge point coordinates on the earth discharge line.

In practical application, in the process that the unmanned mine car which completes the soil discharging operation drives away from the soil discharging position, the laser radar arranged on the unmanned mine car can be used for collecting point cloud data of a target area and uploading the point cloud data to the cloud server. When point cloud data is collected, in order to ensure the density of the point cloud, the speed of the unmanned mine car driving away from the soil discharge position should be limited to be within 6 kilometers per hour. Meanwhile, the point cloud data should be continuously acquired in the process that the distance between the unmanned mine car and the soil discharge position is long, so that the laser radar can be enabled to acquire the required point cloud data completely. After point cloud data uploaded by the unmanned mine car are received, the cloud server cuts the point cloud data based on the range of the target area, and performs voxel filtering on the cut point cloud data to reduce the data volume; further, the cloud server updates the discharging line vector data of the current discharging line based on the point cloud data after voxel filtering, and generates a new discharging position resource for the unmanned mine car based on the updated discharging line vector data.

According to the technical scheme provided by the embodiment of the disclosure, a dumping position generation request is received, wherein the dumping position generation request is used for requesting generation of a new dumping position resource and carries a dumping line trimming mode and point cloud data of a trimmed dumping line; updating the soil discharge line vector data based on the point cloud data of the trimmed soil discharge lines to obtain updated soil discharge line vector data; calculating the number of finally generated soil discharge positions based on the updated soil discharge line vector data; the new discharging position resource is generated based on the discharging position trimming mode and the finally generated discharging position quantity, the discharging position quantity can be determined based on the updated discharging position vector data when the discharging position of the strip mine discharging yard changes, and the new discharging position resource is generated based on the discharging position quantity and the discharging position trimming mode, so that the efficiency and the safety of the discharging operation are improved.

In some embodiments, updating the geodesic vector data based on the trimmed geodesic point cloud data to obtain updated geodesic vector data, comprising: under the condition that the soil discharge position in the operation area is monitored to be fully discharged or is about to be fully discharged, point cloud data of a finished soil discharge line collected and uploaded by a vehicle are received; and calculating the accumulated length of the trimmed earth discharge line based on the point cloud data of the trimmed earth discharge line, and taking the accumulated length of the trimmed earth discharge line as updated earth discharge line vector data.

Specifically, after the unmanned mine car completes the dumping operation, if the server monitors that one or more groups of dumping positions in the operation area are fully or nearly fully dumped or the resources of the dumping positions are exhausted or nearly exhausted, a dumping line updating instruction is sent to the unmanned mine car; after a soil discharging line updating instruction is received, the unmanned mine car trims the current soil discharging line, a laser radar installed on the unmanned mine car is used for collecting point cloud data of the trimmed soil discharging line, and the collected point cloud data are uploaded to a server; further, after the point cloud data of the trimmed earth discharge lines uploaded by the unmanned tramcar are received, the server calculates the accumulated length of the trimmed earth discharge lines and takes the accumulated length as updated earth discharge line vector data.

According to the technical scheme provided by the embodiment of the disclosure, the earth discharge line is trimmed by scheduling the unmanned mine car, the laser radar installed on the unmanned mine car is used for collecting and uploading the point cloud data of the trimmed earth discharge line, and the earth discharge line vector data of the current earth discharge line is updated based on the point cloud data, so that the corresponding point cloud data collection can be automatically implemented, the data collection efficiency and the data collection accuracy are improved, the probability of manual intervention in the automatic operation is reduced, and the automatic operation efficiency is improved.

In some embodiments, calculating the final generated number of the discharging positions based on the updated discharging line vector data comprises: the result of dividing the accumulated length of the trimmed soil discharging lines by the width of the soil discharging positions is rounded downwards to obtain the number of the soil discharging positions which can be generated; calculating the remaining length of the trimmed soil discharge line based on the accumulated length of the trimmed soil discharge line, the soil discharge position width and the number of the soil discharge positions which can be generated; and comparing the remaining length of the trimmed soil discharging line with a preset length, and determining the number of soil discharging positions finally generated based on the comparison result.

Specifically, the number of soil discharge positions that can be generated can be calculated by the following formula (1):

n1= rounded down { ULength/W } (1),

wherein ULength represents the accumulated length of the trimmed soil discharging line, and W represents the width of a soil discharging position, i.e., the width of one soil discharging position; n1 represents the number of soil discharge positions that can be generated, where N1 is a positive integer. Here, the discharge space width may be calculated by the following formula (2):

W=W1+W2×2 （2），

wherein W1 represents the width of the unmanned mine car body, and W2 represents the preset width. Further, based on the accumulated length of the trimmed discharging line, the discharging level width, and the number of dischargeable discharging levels, the remaining length of the trimmed discharging line is calculated by the following formula (3):

URemain=ULength-W×N1 （3），

wherein ureman represents the remaining length of the trimmed waste dump line. And finally, determining the number of finally generated soil discharge positions based on the comparison result of the residual length of the trimmed soil discharge line and the preset length.

Here, the preset width refers to a width reserved for buffering. The preset width may be preset by a user according to empirical data, or may be a preset width obtained by adjusting the preset width according to actual needs by the user, which is not limited in the embodiment of the present disclosure. The preset width may be any value in the range of 0.5 m to 1 m. Preferably, in the disclosed embodiment, the preset width is 0.8 meters.

The preset length may be a length preset by a user according to empirical data, or a preset length obtained by adjusting the preset length according to actual needs by the user, which is not limited in the embodiment of the present disclosure. The predetermined length is related to the width of the body of the unmanned vehicle and should generally be greater than the width of the body of the unmanned vehicle. Preferably, in the disclosed embodiment, the preset length is 4 meters.

According to the technical scheme provided by the embodiment of the disclosure, the number of the soil discharge positions which can be generated is determined by comprehensively considering factors such as the accumulated length of the soil discharge line vector, the body width of the unmanned mine car, the preset width and the like, the residual length of the soil discharge line after finishing is calculated based on the accumulated length of the soil discharge line after finishing, the soil discharge position width and the number of the soil discharge positions which can be generated, the finally generated soil discharge position number is determined based on the comparison result of the residual length of the soil discharge line after finishing and the preset length, and the finally generated soil discharge position number can be accurately determined, so that the utilization rate of the soil discharge position resource is improved.

In some embodiments, comparing the remaining length of the trimmed discharge line with a preset length and determining the final generated number of the discharge positions based on the comparison result includes: if the remaining length of the trimmed soil discharging line is smaller than the preset length, taking the number of the soil discharging positions which can be generated as the number of the soil discharging positions which are finally generated; and if the residual length of the trimmed soil discharging line is greater than or equal to the preset length, adding one to the number of the soil discharging positions which can be generated to serve as the number of the finally generated soil discharging positions.

Specifically, after the number of the finally generated soil discharge positions is determined, the remaining length of the trimmed soil discharge line is compared with a preset length, and if the remaining length of the trimmed soil discharge line is smaller than the preset length, the number of the soil discharge positions which can be generated is used as the number of the finally generated soil discharge positions; if the remaining length of the trimmed gutter is greater than or equal to the preset length, the number of positions that can be generated is added by one as the number of positions that are finally generated, i.e., the edges of the positions should extend outward appropriately. Here, the number of soil discharge positions finally generated is represented by N, where N is a positive integer and is greater than or equal to N1.

For example, assuming that the width W1 of the unmanned mine car body is 3.8 meters, the preset width W2 is 0.8 meters, and the preset length is 4 meters, if the cumulative length ULength of the discharging line vector is 60 meters, the discharging position width W = W1+ W2 × 2=3.8+0.8 × 2=5.4 meters is calculated by the above formula (2); then, according to the formula (1), ULength/W =60 ÷ 5.4 ≈ 11.11 is obtained through calculation, and the number N1 of the soil discharge positions which can be generated is obtained by rounding the soil discharge positions downwards and is 11; further, the remaining length uremin = ULength-W × N1=60-5.4 × 11=60-59.4=0.6 m of the trimmed discharging line is calculated by the above formula (3), and since 0.6 m is smaller than 4 m, the number of finally generated discharging positions N = N1=11.

For another example, assuming that the width W1 of the unmanned mine car is 3.8 meters, the preset width W2 is 0.8 meters, and the preset length is 4 meters, if the cumulative length ULength of the soil discharging line vector is 64 meters, the soil discharging position width W = W1+ W2 × 2=3.8+0.8 × 2=5.4 meters is calculated by the above formula (2); then, calculating to obtain ULength/W =64 ÷ 5.4 ≈ 11.85 through the formula (1), and rounding down the ULength/W to obtain the number N1 of the soil discharge positions which can be generated as 11; further, the remaining length ureman = ULength-W × N1=64-5.4 × 11=64-59.4=4.6 m of the trimmed earth discharging line is calculated by the above formula (3), and since 4.6 m is smaller than 4 m, the number of eventually generated earth discharging positions N = N1+1=12.

According to the technical scheme provided by the embodiment of the disclosure, the number of the finally generated soil discharge positions can be accurately determined, so that the full utilization of the soil discharge position resources is ensured.

In some embodiments, generating new gutter resources based on the gutter line modification manner and the number of eventually generated gutters includes: under the condition that the trimming mode of the discharging line is integral trimming, performing segmented processing on the trimmed discharging line based on the finally generated quantity of the discharging positions and a discharging position segmentation strategy to obtain at least one discharging section; and generating a new discharging position resource based on the number of discharging positions in each discharging section of the at least one discharging section.

Specifically, the spay line finishing manner may include integral finishing and partial finishing. Under the condition that the trimming mode of the discharging line is integral trimming, the server carries out segmented processing on the trimmed discharging line based on the finally generated quantity of the discharging positions and a discharging position segmentation strategy, and generates new discharging position resources based on the quantity of the discharging positions in each discharging section in at least one discharging section obtained by the segmented processing; and under the condition that the trimming mode of the dumping line is local trimming, the server generates new dumping position resources based on the finally generated quantity of the dumping positions.

Here, the discharging position segmenting strategy is to segment the trimmed discharging line based on the comparison result between the finally generated discharging position number and the first preset value and the second preset value to obtain at least one discharging section.

The first preset value and the second preset value may be preset values according to empirical data by a user, or may be obtained by adjusting the set first preset value and second preset value according to actual needs by the user, which is not limited in this disclosure. The first preset value and the second preset value may be any value in the range of 5 to 50, and the first preset value is smaller than the second preset value. Preferably, in the embodiment of the present disclosure, the first preset value is 10, and the second preset value is 40.

Further, if the number of the finally generated soil discharge positions is less than or equal to a first preset value, the trimmed soil discharge line is subjected to segmentation processing to obtain a section of soil discharge section. For example, assuming that the number of finally generated soil discharge positions is 10 and the first preset value is 10, the trimmed soil discharge line is divided into a section of soil discharge section based on the soil discharge position segmentation strategy, and the number of the soil discharge positions included in the section of soil discharge section is 10.

If the number of the finally generated soil discharge positions is larger than a first preset value and smaller than or equal to a second preset value, carrying out segmentation processing on the trimmed soil discharge line to obtain two sections of soil discharge sections, namely a first soil discharge section and a second soil discharge section; further, if the number of the finally generated soil discharge positions is an even number, the number of the finally generated soil discharge positions is evenly distributed, namely, the number of the soil discharge positions contained in the first soil discharge section is the same as that contained in the second soil discharge section; and if the number of the finally generated soil discharge positions is odd, the number of the soil discharge positions contained in the first soil discharge section is one more than the number of the soil discharge positions contained in the second soil discharge section.

For example, assuming that the number of finally generated soil discharge positions is 39, the first preset value is 10, and the second preset value is 40, the trimmed soil discharge line is divided into a first soil discharge section and a second soil discharge section based on the soil discharge position segmentation strategy, wherein the number of the soil discharge positions included in the first soil discharge section is 20, and the number of the soil discharge positions included in the second soil discharge section is 19.

If the number of the finally generated soil discharging positions is larger than a second preset value, carrying out sectional treatment on the trimmed soil discharging line to obtain at least two soil discharging sections; further, dividing the finally generated number of the soil discharge positions by a preset number, namely, the number of the soil discharge positions in one section of the soil discharge section is greater than a third preset value, and if the number of the remaining soil discharge positions is greater than the third preset value, independently taking the number of the remaining soil discharge positions as one section of the soil discharge section; and if the number of the remaining soil discharge positions is less than or equal to a third preset value, combining the number of the remaining soil discharge positions with the number of the soil discharge positions in the previous soil discharge section.

Here, the preset number may be a numerical value preset by the user according to empirical data, or may be a preset number obtained by adjusting the preset number according to actual needs by the user, which is not limited in the embodiment of the present disclosure. The preset number may be any value in the range of 10 to 40, and the preset number is greater than the first preset value and less than the second preset value. Preferably, in the disclosed embodiment, the preset number is 20.

The third preset value may be a numerical value preset by a user according to empirical data, or may be a third preset value obtained by adjusting the set third preset value according to actual needs, which is not limited in the embodiment of the present disclosure. The third preset value may be any value in the range of 5 to 20, and the third preset value is greater than or equal to the first preset value and less than a preset number. Preferably, in the embodiment of the present disclosure, the third preset value is 15.

For example, assuming that the second preset value is 40, the third preset value is 15, and the preset number is 20, if the number of finally generated soil discharge positions is 56, taking the soil discharge lines including the preset number as one section (i.e., every 20 sections), and performing segmentation processing on the trimmed soil discharge lines to obtain a first soil discharge section and a second soil discharge section, wherein the number of the soil discharge positions included in the first soil discharge section and the second soil discharge section is 20; further, the number of the remaining soil discharge positions is 56-20-20=16 which is larger than the third preset value through calculation, so that the soil discharge line containing the number of the remaining soil discharge positions is independently used as a soil discharge section, namely, a third soil discharge section.

For another example, assuming that the second preset value is 40, the third preset value is 15, and the preset number is 20, if the number of the finally generated soil discharge positions is 48, taking the soil discharge lines including the preset number as one section (i.e., every 20 sections), and performing segmentation processing on the trimmed soil discharge lines to obtain a first soil discharge section and a second soil discharge section, wherein the number of the soil discharge positions included in the first soil discharge section and the second soil discharge section is 20; further, the number of the remaining soil discharge positions is calculated to be 48-20-20=8, and the number of the remaining soil discharge positions is smaller than the third preset value, so that the number of the remaining soil discharge positions and the number of the soil discharge positions in the second soil discharge section are merged, that is, the number of the soil discharge positions contained in the second soil discharge section is 20+8=28.

According to the technical scheme provided by the embodiment of the disclosure, the trimmed earth discharge lines are processed in a segmented mode based on the earth discharge position segmentation strategy, so that different unmanned mine cars can simultaneously carry out respective operations on different earth discharge lines, the use flexibility of the earth discharge positions is improved, and the operation efficiency of the unmanned mine cars is improved.

In some embodiments, the new gutter resource comprises a plurality of gutters, and the gutter generation method further comprises: aiming at the current soil discharging position in the plurality of soil discharging positions, respectively extending the soil discharging line where the current soil discharging position is located to the left side and the right side by a soil discharging position width to obtain an extended soil discharging position; performing line segment fitting by using a least square method based on point cloud data of a soil discharging line where an extended soil discharging position is located to obtain a line segment direction vector of a fitted line segment; calculating a normal vector of the fitted line segment facing the soil discharging field based on the line segment direction vector, and taking the normal vector as the soil discharging position facing of the current soil discharging position; calculating the center coordinate of a rear axle of the vehicle based on the center point of the current soil discharging position on the soil discharging line, the soil discharging position orientation of the current soil discharging position and the distance from the center of the rear axle of the vehicle to the soil discharging line of the current soil discharging position; and calculating the soil discharging position coordinate of the current soil discharging position based on the rear axle center coordinate of the vehicle, the soil discharging position orientation of the current soil discharging position, the soil discharging position width and the soil discharging position length, and the distance from the rear axle center of the vehicle to the rear boundary of the current soil discharging position.

Specifically, the new gutter resource refers to a gutter resource that is re-planned based on the trimmed gutter line. The new discharging place resource may include a plurality of discharging places, and a generation method of each of the plurality of discharging places is the same.

For the current soil discharge position in the new soil discharge position resource, firstly, the soil discharge line where the current soil discharge position is located can be extended to the left side and the right side by one soil discharge position width respectively to obtain an extended soil discharge position; performing line fitting by using a least square method based on point cloud data of the soil discharging line where the extension soil discharging position is located to obtain a line segment direction vector D (x, y) of the fitted line segment, namely the soil discharging line direction of the soil discharging line where the extension soil discharging position is located; and calculating to obtain a normal vector V (y, -x) of the fitted line segment facing the dump based on the line segment direction vector, and taking the normal vector as the direction of the current dump. Next, the rear axle center coordinates of the vehicle can be calculated by the following formula (4):

PR=P+V×S（4），

wherein, PR represents the central coordinate of the rear axle of the vehicle, P represents the central point of the current discharging position on the corrected discharging line, V represents the direction of the discharging position of the current discharging position, and S represents the distance from the center of the rear axle of the vehicle to the discharging line of the current discharging position. Further, the coordinates of the corner points of the four corner points of the current discharging position, that is, the coordinates of the current discharging position can be calculated by the following formulas (5) to (8):

P _DL =PR+D×W/2-V×RB（5），

P _UL =PR+D×W/2+V×(L-RB)（6），

P _UR =PR-D×W/2+V×(L-RB)（7），

P _DR =PR-D×W/2-V×RB（8），

wherein, P _DL Corner coordinates, P, representing the lower left corner of the current discharging level _UL Corner point coordinates, P, representing the upper left corner point of the current discharging position _UR Corner point coordinates, P, representing the top right corner point of the current discharging position _DR The angle point coordinates of the right lower angle point of the current soil discharging position are represented, D represents the direction of the soil discharging line where the extended soil discharging position is located, W represents the width of the soil discharging position of the current soil discharging position, L represents the length of the soil discharging position of the current soil discharging position, and RB represents the distance from the center of a rear shaft of the vehicle to the rear boundary of the current soil discharging position.

It should be noted that after the number of the soil discharging positions and the position range of each soil discharging position on the trimmed soil discharging line are determined based on the soil discharging line vector data and the soil discharging position width, the coordinates of four corner points of each soil discharging position can be calculated in the clockwise direction of the trimmed soil discharging line, so that the current soil discharging position refers to the soil discharging position being calculated, that is, the soil discharging position to be generated.

All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present disclosure, and are not described in detail herein. In addition, the sequence numbers of the steps in the foregoing embodiments do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the internal logic of the process, and should not limit the implementation process of the embodiments of the present disclosure in any way.

Fig. 2 is a diagram illustrating a soil discharge position generating effect of a single soil discharge section related to a soil discharge position generating method in an actual application scenario according to an embodiment of the present disclosure.

As shown in fig. 2, the discharging line 20 is processed in sections to obtain a single discharging section. The soil discharging section comprises 14 soil discharging positions 21, and each soil discharging position 21 has an independent soil discharging position number from the soil discharging position 1-1 to the soil discharging position 1-14. Furthermore, each of the discharging positions is oriented in a direction corresponding to a normal line of the discharging line toward the inside of the discharging site, as indicated by an arrow.

It should be noted that, because the discharging positions (for example, the discharging positions 1-6 and the discharging positions 1-7) generated in the region with the large curvature of the local discharging line are overlapped to a certain extent, the server does not simultaneously schedule unmanned mine cars to perform discharging operation in the overlapped region, that is, the discharging positions 1-6 and the discharging positions 1-7 do not simultaneously perform earthwork dumping of two unmanned mine cars.

Fig. 3 is a diagram illustrating a soil discharge position generating effect of two adjacent soil discharge sections involved in a soil discharge position generating method provided by the embodiment of the disclosure in an actual application scenario.

As shown in fig. 3, the discharging line 30 is processed in sections to obtain two discharging sections, i.e., a first discharging section and a second discharging section. The first soil discharging section comprises 20 soil discharging positions 31, and each soil discharging position 31 is provided with a section number and a soil discharging position number, namely, a soil discharging position 3-1 to a soil discharging position 3-20 (only the soil discharging position 3-16 to the soil discharging position 3-20 are shown in figure 3); the second soil discharge section comprises 14 soil discharge positions 32, and each soil discharge position 32 is provided with a section number and a soil discharge position number, namely, the soil discharge position 4-1 to the soil discharge position 4-14.

Fig. 4 is a schematic flow chart of another method for generating a soil discharge position according to the embodiment of the disclosure. The rank generation method of fig. 4 may be performed by a server or an electronic device. As shown in fig. 4, the method for generating a soil discharge position includes:

s401, under the condition that the soil discharging position in the operation area is monitored to be fully discharged or is about to be fully discharged, receiving point cloud data of a finished soil discharging line collected and uploaded by a vehicle;

s402, calculating the accumulated length of the trimmed earth discharge line based on the point cloud data of the trimmed earth discharge line, and taking the accumulated length of the trimmed earth discharge line as updated earth discharge line vector data;

s403, rounding down the result of dividing the accumulated length of the trimmed soil discharging lines by the width of the soil discharging positions to obtain the number of the soil discharging positions which can be generated;

s404, calculating the remaining length of the trimmed soil discharging line based on the accumulated length of the trimmed soil discharging line, the soil discharging position width and the number of the soil discharging positions which can be generated;

s405, comparing the remaining length of the trimmed soil discharging line with a preset length, and determining the number of soil discharging positions finally generated based on the comparison result;

s406, determining whether the trimming mode of the soil discharging line is integral trimming, and if so, executing S407; otherwise, executing S409;

s407, based on the finally generated number of the soil discharge positions and a soil discharge position segmentation strategy, performing segmentation processing on the trimmed soil discharge line to obtain at least one soil discharge section;

s408, generating new discharging position resources based on the number of discharging positions in each discharging section in at least one discharging section;

and S409, generating new dumping position resources based on the finally generated number of the dumping positions.

According to the technical scheme provided by the embodiment of the disclosure, the number of the soil discharge positions which can be generated is determined by comprehensively considering factors such as the accumulated length of the soil discharge line vector, the body width of the unmanned mine car, the preset width and the like, the residual length of the soil discharge line after finishing is calculated based on the accumulated length of the soil discharge line after finishing, the soil discharge position width and the number of the soil discharge positions which can be generated, the finally generated soil discharge position number is determined based on the comparison result of the residual length of the soil discharge line after finishing and the preset length, and the finally generated soil discharge position number can be accurately determined, so that the utilization rate of the soil discharge position resource is improved.

In addition, the trimmed soil discharge lines are subjected to segmentation processing based on the soil discharge position segmentation strategy, so that different unmanned mine cars can simultaneously perform respective operations on different soil discharge lines, the flexibility of the use of soil discharge position resources is improved, and the operation efficiency of the unmanned mine cars is improved.

The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the method of the present disclosure.

Fig. 5 is a schematic structural diagram of a soil discharge position generating device according to an embodiment of the present disclosure. As shown in fig. 5, the soil discharge position generating apparatus includes:

a receiving module 501 configured to receive a request for generating a discharging position, where the request for generating a new discharging position resource is used to request generation of a new discharging position resource and carries a discharging line trimming mode and point cloud data of a trimmed discharging line;

an updating module 502 configured to update the discharging line vector data based on the point cloud data of the trimmed discharging line to obtain updated discharging line vector data;

a calculating module 503 configured to calculate the number of the finally generated discharging positions based on the updated discharging line vector data;

a generating module 504 configured to generate a new gutter resource based on the gutter line trimming manner and the finally generated number of gutters.

According to the technical scheme provided by the embodiment of the disclosure, a dumping position generation request is received, wherein the dumping position generation request is used for requesting generation of a new dumping position resource and carries a dumping line trimming mode and point cloud data of a trimmed dumping line; updating the earth discharge line vector data based on the point cloud data of the trimmed earth discharge line to obtain updated earth discharge line vector data; calculating the number of finally generated soil discharge positions based on the updated soil discharge line vector data; the new discharging position resource is generated based on the discharging position trimming mode and the finally generated discharging position quantity, the discharging position quantity can be determined based on the updated discharging position vector data when the discharging position of the strip mine discharging yard changes, and the new discharging position resource is generated based on the discharging position quantity and the discharging position trimming mode, so that the efficiency and the safety of the discharging operation are improved.

In some embodiments, in the case where it is monitored that the soil discharge positions in the work area are full or are about to be full, the updating module 502 of fig. 5 receives the point cloud data of the trimmed soil discharge lines collected and uploaded by the vehicle, calculates the accumulated length of the trimmed soil discharge lines based on the point cloud data of the trimmed soil discharge lines, and uses the accumulated length of the trimmed soil discharge lines as updated soil discharge line vector data.

In some embodiments, the update module 502 of fig. 5 further rounds down a result of dividing the cumulative length of the trimmed soil discharge lines by the number of soil discharge positions to obtain a number of soil discharge positions that can be generated, calculates a remaining length of the trimmed soil discharge lines based on the cumulative length of the trimmed soil discharge lines, the number of soil discharge positions, and the number of soil discharge positions that can be generated, compares the remaining length of the trimmed soil discharge lines with a preset length, and determines the number of soil discharge positions that are finally generated based on the comparison result.

In some embodiments, if the remaining length of the trimmed dump line is less than the preset length, the update module 502 of fig. 5 takes the number of the generable dump positions as the final generated dump position number; if the remaining length of the trimmed soil discharging line is greater than or equal to the preset length, the updating module 502 of fig. 5 adds one to the number of soil discharging positions that can be generated as the final number of soil discharging positions.

In some embodiments, when the trimming manner of the discharging line is the integral trimming, the generating module 504 in fig. 5 performs a segmentation process on the trimmed discharging line to obtain at least one discharging segment based on the finally generated number of discharging segments and a discharging segment segmentation strategy, and generates a new discharging segment resource based on the number of discharging segments in each discharging segment of the at least one discharging segment.

In some embodiments, if the number of the finally generated discharging positions is less than or equal to the first preset value, the generating module 504 of fig. 5 performs a segmentation process on the trimmed discharging line to obtain a discharging segment; if the number of the finally generated soil discharge positions is greater than the first preset value and less than or equal to the second preset value, the generation module 504 of fig. 5 performs segmentation processing on the trimmed soil discharge line to obtain two sections of soil discharge sections; if the number of the finally generated soil discharge positions is greater than the second preset value, the generation module 504 in fig. 5 performs segmentation processing on the trimmed soil discharge line to obtain at least two soil discharge segments.

In some embodiments, where the route trim approach is a partial trim, the generation module 504 of fig. 5 generates a new perch resource based on the number of eventually generated perchs.

The implementation process of the functions and actions of each module in the above device is detailed in the implementation process of the corresponding steps in the above method, and is not described herein again.

Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 6, the electronic apparatus 60 of this embodiment includes: a processor 601, a memory 602, and a computer program 603 stored in the memory 602 and operable on the processor 601. The steps in the various method embodiments described above are implemented when the computer program 603 is executed by the processor 601. Alternatively, the processor 601 realizes the functions of each module/unit in each apparatus embodiment described above when executing the computer program 603.

Illustratively, the computer program 603 may be partitioned into one or more modules/units, which are stored in the memory 602 and executed by the processor 601 to complete the disclosure. One or more modules/units may be a series of computer program instruction segments capable of performing certain functions, which are used to describe the execution of the computer program 603 in the electronic device 60.

The electronic device 60 may be a desktop computer, a notebook, a palm computer, a cloud server, or other electronic devices. The electronic device 60 may include, but is not limited to, a processor 601 and a memory 602. Those skilled in the art will appreciate that fig. 6 is merely an example of an electronic device 60 and does not constitute a limitation of the electronic device 60 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the electronic device may also include input-output devices, network access devices, buses, etc.

The Processor 601 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 602 may be an internal storage unit of the electronic device 60, for example, a hard disk or a memory of the electronic device 60. The memory 602 may also be an external storage device of the electronic device 60, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the electronic device 60. Further, the memory 602 may also include both internal storage units and external storage devices of the electronic device 60. The memory 602 is used for storing computer programs and other programs and data required by the electronic device. The memory 602 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the present disclosure. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described or recited in any embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

In the embodiments provided in the present disclosure, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other ways. For example, the above-described apparatus/electronic device embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, and multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, the present disclosure may implement all or part of the flow of the method in the above embodiments, and may also be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the above methods and embodiments. The computer program may comprise computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer-readable medium may contain suitable additions or subtractions depending on the requirements of legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer-readable media may not include electrical carrier signals or telecommunication signals in accordance with legislation and patent practice.

The above examples are only intended to illustrate the technical solution of the present disclosure, not to limit it; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present disclosure, and are intended to be included within the scope of the present disclosure.

Claims (11)

1. A method for generating a soil discharge position is characterized by comprising the following steps:

receiving a soil discharge position generation request, wherein the soil discharge position generation request is used for requesting generation of a new soil discharge position resource and carries a soil discharge line trimming mode and point cloud data of a trimmed soil discharge line;

updating the soil discharging line vector data based on the point cloud data of the trimmed soil discharging line to obtain updated soil discharging line vector data;

calculating the number of finally generated soil discharge positions based on the updated soil discharge line vector data;

generating the new discharging position resource based on the trimming mode of the discharging line and the finally generated discharging position number,

wherein the new dumping position resource comprises a plurality of dumping positions, the method further comprising:

for a current one of the plurality of discharging levels,

extending the soil discharging line where the current soil discharging position is located to the left side and the right side by a soil discharging position width respectively to obtain an extended soil discharging position;

performing line fitting by using a least square method based on the point cloud data of the soil discharging line where the extended soil discharging position is located to obtain a line segment direction vector of a fitted line segment;

calculating a normal vector of the fitted line segment facing the dump based on the line segment direction vector, and taking the normal vector as the direction of the current dump;

calculating the center coordinates of a rear axle of the vehicle based on the central point of the current soil discharging position on the soil discharging line, the soil discharging position orientation of the current soil discharging position and the distance from the center of the rear axle of the vehicle to the soil discharging line of the current soil discharging position;

and calculating the soil discharging position coordinate of the current soil discharging position based on the rear axle center coordinate of the vehicle and the soil discharging position orientation of the current soil discharging position.

2. The method of claim 1, wherein updating the geodesic vector data based on the trimmed geodesic point cloud data to obtain updated geodesic vector data comprises:

under the condition that the soil discharge position in the operation area is monitored to be fully discharged or is about to be fully discharged, receiving point cloud data of the trimmed soil discharge line collected and uploaded by a vehicle;

and calculating the accumulated length of the trimmed earth discharge line based on the point cloud data of the trimmed earth discharge line, and taking the accumulated length of the trimmed earth discharge line as the updated earth discharge line vector data.

3. The method of claim 2, wherein calculating a final generated number of discharging positions based on the updated discharging line vector data comprises:

the result of dividing the accumulated length of the trimmed soil discharging lines by the width of the soil discharging positions is rounded downwards to obtain the number of the soil discharging positions which can be generated;

calculating the remaining length of the trimmed soil discharge lines based on the accumulated length of the trimmed soil discharge lines, the soil discharge level width and the number of the soil discharge levels which can be generated;

and comparing the residual length of the trimmed soil discharging line with a preset length, and determining the number of the finally generated soil discharging positions based on the comparison result.

4. The method of claim 3, wherein the comparing the remaining length of the trimmed discharge wire with a preset length and determining the final generated number of discharge positions based on the comparison result comprises:

if the remaining length of the trimmed soil discharging line is smaller than the preset length, taking the number of the soil discharging positions which can be generated as the number of the finally generated soil discharging positions;

and if the remaining length of the trimmed soil discharging line is greater than or equal to the preset length, adding one to the number of the soil discharging positions which can be generated to be used as the number of the finally generated soil discharging positions.

5. The method of claim 1, wherein generating the new gutter resource based on the gutter line trim approach and the final generated number of gutters comprises:

under the condition that the trimming mode of the dumping line is integral trimming, performing segmentation processing on the trimmed dumping line based on the finally generated number of dumping positions and a dumping position segmentation strategy to obtain at least one section of dumping section;

and generating the new discharging position resource based on the number of discharging positions in each discharging section of the at least one discharging section.

6. The method according to claim 5, wherein the segmenting the trimmed discharging line based on the finally generated number of discharging positions and a discharging position segmentation strategy to obtain at least one discharging section comprises:

if the number of the finally generated soil discharge positions is less than or equal to a first preset value, carrying out segmentation treatment on the trimmed soil discharge line to obtain a soil discharge section;

if the number of the finally generated soil discharge positions is larger than the first preset value and smaller than or equal to a second preset value, carrying out segmentation processing on the trimmed soil discharge line to obtain two sections of soil discharge sections;

and if the number of the finally generated soil discharge positions is larger than the second preset value, performing segmentation processing on the trimmed soil discharge line to obtain at least two soil discharge segments.

7. The method of claim 1, wherein generating the new gutter resource based on the gutter line modification and the final generated number of gutters comprises:

and under the condition that the trimming mode of the dumping line is local trimming, generating the new dumping position resource based on the finally generated number of the dumping positions.

8. The method of claim 1, wherein the calculating the position coordinate of the current position based on the rear axle center coordinate of the vehicle and the position orientation of the current position comprises:

and calculating the soil discharging position coordinate of the current soil discharging position based on the rear axle center coordinate of the vehicle, the soil discharging position orientation, the soil discharging position width and the soil discharging position length of the current soil discharging position and the distance from the rear axle center of the vehicle to the rear boundary of the current soil discharging position.

9. A soil discharge position generating device, comprising:

the system comprises a receiving module and a processing module, wherein the receiving module is configured to receive a dumping position generation request, the dumping position generation request is used for requesting generation of new dumping position resources and carries a dumping line trimming mode and point cloud data of trimmed dumping lines;

the updating module is configured to update the earth discharge line vector data based on the repaired point cloud data of the earth discharge line to obtain updated earth discharge line vector data;

a calculation module configured to calculate a final generated number of the discharging positions based on the updated discharging line vector data;

a generation module configured to generate the new discharging place resource based on the discharging line trimming manner and the finally generated number of discharging places,

wherein the new ranking resource comprises a plurality of rankings, the generation module further configured to:

for a current one of the plurality of discharging levels,

respectively extending the soil discharging line where the current soil discharging position is located to the left side and the right side by a soil discharging position width to obtain extended soil discharging positions;

performing line fitting by using a least square method based on the point cloud data of the soil discharging line where the extended soil discharging position is located to obtain a line segment direction vector of a fitted line segment;

calculating a normal vector of the fitted line segment facing the dump based on the line segment direction vector, and taking the normal vector as the direction of the current dump;

calculating the center coordinate of the rear axle of the vehicle based on the center point of the soil discharging line where the current soil discharging position is located, the soil discharging position orientation of the current soil discharging position and the distance from the center of the rear axle of the vehicle to the soil discharging line where the current soil discharging position is located;

and calculating the soil discharging position coordinate of the current soil discharging position based on the rear axle center coordinate of the vehicle and the soil discharging position orientation of the current soil discharging position.

10. An electronic device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the steps of the method according to any of claims 1 to 8 are implemented when the computer program is executed by the processor.

11. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.

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