WO2024066104A1

WO2024066104A1 - Dumping site generation method and apparatus, electronic device, and storage medium

Info

Publication number: WO2024066104A1
Application number: PCT/CN2022/143155
Authority: WO
Inventors: 王方建
Original assignee: 北京易控智驾科技有限公司
Priority date: 2022-09-29
Filing date: 2022-12-29
Publication date: 2024-04-04
Also published as: CN115271566B; CN115271566A; AU2022442100A1

Abstract

The present disclosure relates to the technical field of mining. Provided are a dumping site generation method and apparatus, an electronic device, and a storage medium. The dumping site generation method is applied to an unmanned vehicle, i.e., an unmanned driving device or an autonomous driving device, and comprises: receiving a dumping site generation request, wherein the dumping site generation request is used for requesting generation of new dumping site resources and carries a dumping line trimming mode and point cloud data of a trimmed dumping line (S101); updating dumping line vector data on the basis of the point cloud data of the trimmed dumping line, so as to obtain updated dumping line vector data (S102); calculating the number of target dumping sites on the basis of the updated dumping line vector data (S103); and generating new dumping site resources on the basis of the dumping line trimming mode and the number of target dumping sites (S104). In the present disclosure, the number of dumping sites can be determined on the basis of the updated dumping line vector data, and the new dumping site resources are generated on the basis of the number of dumping sites and the dumping line trimming mode, such that the efficiency and safety of dumping operations are improved.

Description

Soil dumping position generation method, device, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of mining technology, and in particular to a method, device, electronic device and computer-readable storage medium for generating a dumping site.

Background technique

The mining method of open-pit mines requires the surface soil and rocks to be stripped to expose the ore layer for mining. The stripped soil and rocks are transported to the dumping site by mine cars and dumped at the designated dumping site. Due to the limitations of mining equipment, all operations in open-pit mines were completed manually for a long time.

With the advancement of industrial automation and the development of unmanned driving technology, more and more unmanned mining vehicles have been applied to the dumping operations of open-pit mine dumps. Usually, when unmanned mining vehicles are performing dumping operations, they must rely on pre-generated dumping positions to dump earth and stone. When the dumping line of the open-pit mine dump changes, it is impossible to generate a new dumping position based on the updated dumping line vector for the unmanned mining vehicle to accurately stop, thus affecting the efficiency and safety of the dumping operation.

Summary of the invention

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

A first aspect of an embodiment of the present disclosure provides a method for generating a soil dumping position, comprising: receiving a soil dumping position generation request, wherein the soil dumping position generation request is used to request the generation of a new soil dumping position resource and carries a soil dumping line trimming method and point cloud data of the trimmed soil dumping line; based on the point cloud data of the trimmed soil dumping line, updating the soil dumping line vector data to obtain updated soil dumping line vector data; based on the updated soil dumping line vector data, calculating a target number of soil dumping positions; and generating a new soil dumping position resource based on the soil dumping line trimming method and the target number of soil dumping positions.

According to a second aspect of an embodiment of the present disclosure, a device for generating a soil dumping position is provided, comprising: a receiving module configured to receive a soil dumping position generation request, wherein the soil dumping position generation request is used to request the generation of a new soil dumping position resource and carries a soil dumping line trimming method and point cloud data of the trimmed soil dumping line; an updating module configured to update the soil dumping line vector data based on the point cloud data of the trimmed soil dumping line to obtain the updated soil dumping line vector data; a calculating module configured to calculate the target number of soil dumping positions based on the updated soil dumping line vector data; and a generating module configured to generate a new soil dumping position resource based on the soil dumping line trimming method and the target number of soil dumping positions.

According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

At least one of the above-mentioned technical solutions adopted in the embodiments of the present disclosure can achieve the following beneficial effects: by receiving a dumping position generation request, wherein the dumping position generation request is used to request the generation of a new dumping position resource and carries a dumping line trimming method and point cloud data of the trimmed dumping line; based on the point cloud data of the trimmed dumping line, the dumping line vector data is updated to obtain the updated dumping line vector data; based on the updated dumping line vector data, the target number of dumping positions is calculated; based on the dumping line trimming method and the target number of dumping positions, new dumping position resources are generated, and when the dumping line of the open-pit mine dumping yard changes, the number of dumping positions can be determined based on the updated dumping line vector data, and new dumping position resources can be generated based on the number of dumping positions and the dumping line trimming method, thereby improving the efficiency and safety of the dumping operation.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is a schematic flow chart of a method for generating a soil dumping position provided in an embodiment of the present disclosure.

FIG2 is a diagram showing the effect of generating a soil dumping position of a single soil dumping section involved in an actual application scenario of a soil dumping position generating method provided by an embodiment of the present disclosure.

FIG3 is a diagram showing the effect of generating a soil dumping position of two adjacent soil dumping sections in an actual application scenario in accordance with a soil dumping position generating method provided by an embodiment of the present disclosure.

FIG. 4 is a schematic flow chart of another method for generating a soil dumping position provided in an embodiment of the present disclosure.

FIG5 is a schematic structural diagram of a device for generating a soil dumping position according to an embodiment of the present disclosure.

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

Detailed ways

Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms "a", "the" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and/or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

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

FIG1 is a schematic flow chart of a method for generating a soil dumping position provided by an embodiment of the present disclosure. The method for generating a soil dumping position in FIG1 can be executed by a server or an electronic device. As shown in FIG1 , the method for generating a soil dumping position includes:

S101, receiving a dumping position generation request, wherein the dumping position generation request is used to request generation of a new dumping position resource and carries a dumping line trimming method and point cloud data of the trimmed dumping line;

S102, based on the modified point cloud data of the soil discharge line, updating the soil discharge line vector data to obtain updated soil discharge line vector data;

S103, calculating the target number of dumping positions based on the updated dumping line vector data;

S104: Generate new dumping position resources based on the dumping line trimming method and the target number of dumping positions.

Specifically, taking the server as an example, when the earth discharge operation is completed and the earth discharge position resources in the operation area are exhausted or about to be exhausted, the server dispatches the first vehicle to perform overall or partial trimming of the current earth discharge line, and dispatches the second vehicle to collect point cloud data of the trimmed earth discharge line; the second vehicle uploads the collected point cloud data to the server, and sends a earth discharge position generation request to the server for requesting the generation of new earth discharge position resources and carrying a earth discharge line trimming method; further, after receiving the earth discharge position generation request, the server updates the earth discharge line vector data of the current earth discharge line based on the point cloud data uploaded by the second vehicle, calculates the target number of earth discharge positions based on the updated earth discharge line vector data, and generates new earth discharge position resources based on the earth discharge line trimming method and the target number of earth discharge positions.

Here, the server can be a single server, a server cluster or a distributed system composed of several servers, or a cloud computing service center, which is not limited in the embodiments of the present disclosure. Preferably, in the embodiments of the present disclosure, the server is a cloud server, that is, a device that runs in the cloud and can provide basic cloud computing services such as cloud database, cloud storage, cloud computing, and cloud communication.

Operations can be various social activities that cause changes in topography, including but not limited to: road construction (affecting the flatness of the ground, etc.), placing objects in a specific area (increasing the height of a certain area), removing objects from a specific area (reducing the height of a certain area), or activities that cause changes in the road surface topography (a certain area is sunken or convex). Earthwork refers to the operation of unloading stripping materials such as earth and stone into the earthwork dump.

The operation area may be in a closed space, an open space, or a space environment where no roads are opened. For example, a closed space may be an open-pit mine environment, and the earthwork operation in an open-pit mine mainly includes earthwork loading in a loading area, road transportation, and earthwork unloading in a dump. In the disclosed embodiment, the operation area refers to the area where the first vehicle and/or the second vehicle is located during the process of performing operations such as loading, transportation, and dumping in an open-pit mine.

The first vehicle can be an ordinary vehicle with functions such as shoveling gravel, pushing soil, and leveling the ground, or a vehicle with the above functions and an autonomous driving function, which is not limited in the embodiments of the present disclosure. Preferably, in the embodiments of the present disclosure, the first vehicle is a forklift or an unmanned forklift, which is used to trim the retaining wall terrain in the target area so that it meets the retaining wall specification requirements for soil discharge operations.

The second vehicle may be an ordinary vehicle with a data collection function, or a vehicle with a data collection function and an autonomous driving function, or an autonomous driving fleet composed of vehicles with autonomous driving functions, which is not limited in the disclosed embodiment. Preferably, in the disclosed embodiment, the second vehicle is an unmanned mining car or an automatic driving mining car equipped with a laser radar, a millimeter wave radar, an ultrasonic radar or a camera, which is used to collect point cloud data of the trimmed retaining wall terrain.

It should be noted that the first vehicle and the second vehicle may be the same or different. For example, the first vehicle and the second vehicle may both be forklifts equipped with a vehicle-mounted laser radar sensor, or the first vehicle may be a forklift and the second vehicle may be an unmanned mining car equipped with a vehicle-mounted laser radar sensor. The unmanned mining car will be used as an example for explanation. In addition, the number of the first vehicle and the second vehicle may be adjusted according to the actual needs of the application scenario, and the embodiments of the present disclosure are not limited to this.

Point cloud data refers to a set of three-dimensional point data of the target surface obtained by a measuring instrument, where the measuring instrument may include but is not limited to a laser radar, a millimeter wave radar, an ultrasonic radar, a camera, etc. In the embodiment of the present disclosure, point cloud data refers to a set of three-dimensional point data of the surface of the earthwork after the earthwork is unloaded at the dumping site.

The dumping line can be a curve including at least one dumping section. It should be noted that, during the dumping operation, the unmanned mining vehicle dumps earth and stone based on the dumping position on the current dumping line. When the dumping position is used up, the shovel needs to repair the retaining wall, and then calculate the new dumping line, and plan the new dumping position based on the new dumping line. Therefore, in the disclosed embodiment, the current dumping line is known.

Vector refers to a quantity that has both size and direction. Vector data refers to data that uses coordinates to represent the position and shape of a map figure or geographic entity in a coordinate system such as rectangular coordinates. Drainage line vector data includes vector data representing drainage line boundary information, which may include but is not limited to drainage line length, drainage line number, and drainage point coordinates on the drainage line.

In practical applications, when the unmanned mine car that has completed the soil discharge operation leaves the soil discharge position, the laser radar installed on the unmanned mine car can be used to collect point cloud data of the target area and upload it to the cloud server. When collecting point cloud data, in order to ensure the point cloud density, the speed of the unmanned mine car leaving the soil discharge position can be limited to 6 kilometers per hour. At the same time, point cloud data can be continuously collected during the process of the unmanned mine car leaving the soil discharge position to ensure that the laser radar can completely collect the required point cloud data. After receiving the point cloud data uploaded by the unmanned mine car, the cloud server can crop the point cloud data based on the range of the target area, and perform voxel filtering on the cropped point cloud data to reduce the amount of data. Furthermore, the cloud server can update the soil discharge line vector data of the current soil discharge line based on the point cloud data after voxel filtering, and generate new soil discharge position resources for the unmanned mine car based on the updated soil discharge line vector data.

According to the technical solution provided by the embodiments of the present disclosure, after receiving a dumping position generation request for requesting the generation of new dumping position resources and carrying the dumping line trimming method and the point cloud data of the trimmed dumping line, the dumping line vector data is updated based on the point cloud data of the trimmed dumping line, the target number of dumping positions is calculated based on the updated dumping line vector data, and new dumping position resources are generated based on the dumping line trimming method and the target number of dumping positions. When the dumping line of the open-pit mine dumping yard changes, the number of dumping positions can be determined based on the updated dumping line vector data, and new dumping position resources can be generated based on the number of dumping positions and the dumping line trimming method, thereby improving the efficiency and safety of the dumping operation.

In some embodiments, based on the point cloud data of the trimmed dumping line, the vector data of the dumping line is updated to obtain the updated vector data of the dumping line, including: when it is monitored that the dumping positions in the working area are full or about to be full, the point cloud data of the trimmed dumping line collected and uploaded by the vehicle is received; based on the point cloud data of the trimmed dumping line, the cumulative length of the trimmed dumping line is calculated, and the cumulative length of the trimmed dumping line is used as the updated vector data of the dumping line.

Specifically, after the unmanned mine car completes the earth discharge operation, if the server monitors that one or more earth discharge positions in the operation area are full or about to be full, or the earth discharge position resources are exhausted or about to be exhausted, then a earth discharge line update instruction is sent to the unmanned mine car; after receiving the earth discharge line update instruction, the unmanned mine car trims the current earth discharge line, uses the laser radar installed on the unmanned mine car to collect point cloud data of the trimmed earth discharge line, and uploads the collected point cloud data to the server; further, after receiving the point cloud data of the trimmed earth discharge line uploaded by the unmanned mine car, the server calculates the cumulative length of the trimmed earth discharge line and uses it as the updated earth discharge line vector data.

According to the technical solution provided in the embodiment of the present disclosure, the unmanned mine car is dispatched to trim the dump line, the laser radar installed on the unmanned mine car is used to collect and upload the point cloud data of the trimmed dump line, and the dump line vector data of the current dump line is updated based on the point cloud data. The corresponding point cloud data collection can be implemented fully automatically, thereby improving the efficiency of data collection and the accuracy of collected data, reducing the probability of manual intervention in automated operations, and improving the efficiency of automated operations.

In some embodiments, the target number of dumping positions is calculated based on the updated dumping line vector data, including: rounding down the result of dividing the cumulative length of the trimmed dumping line by the dumping position width to obtain an estimated number of dumping positions; calculating the remaining length of the trimmed dumping line based on the cumulative length of the trimmed dumping line, the dumping position width and the estimated number of dumping positions; comparing the remaining length of the trimmed dumping line with a preset length, and determining the target number of dumping positions based on the comparison result.

Specifically, the estimated number of dumping locations can be calculated using the following formula (1):

in,

represents the rounding down operation; ULength represents the cumulative length of the trimmed dumping line; W represents the dumping position width, that is, the width of a dumping position; N1 represents the estimated number of dumping positions, where N1 is a positive integer. Here, the dumping position width can be calculated by the following formula (2):

W＝W1+W2×2 (2).

Wherein, W1 represents the body width of the unmanned mining vehicle, and W2 represents the preset width. Furthermore, based on the cumulative length of the trimmed dump line, the dump position width, and the estimated number of dump positions, the remaining length of the trimmed dump line is calculated by the following formula (3):

URemain＝ULength-W×N1 (3).

Among them, URemain represents the remaining length of the soil dumping line after trimming. Finally, based on the comparison result between the remaining length of the soil dumping line after trimming and the preset length, the target number of soil dumping positions is determined.

Here, the preset width refers to the width reserved for buffering. The preset width can be preset by the user based on empirical data, or it can be the preset width obtained by the user adjusting the preset width according to actual needs, and the embodiment of the present disclosure does not limit this. The preset width can be any value in the range of 0.5 meters to 1 meter. Preferably, in the embodiment of the present disclosure, the preset width is 0.8 meters.

The preset length may be a length pre-set by the user based on empirical data, or may be a preset length obtained by adjusting the preset length according to actual needs, and the present embodiment does not limit this. The preset length is related to the body width of the unmanned mining vehicle, and should generally be greater than the body width of the unmanned mining vehicle. Preferably, in the present embodiment, the preset length is 4 meters.

According to the technical solution provided by the embodiment of the present disclosure, the estimated number of dumping positions is determined by comprehensively considering factors such as the cumulative length of the dumping line vector, the body width of the unmanned mining car, and the preset width. The remaining length of the trimmed dumping line is calculated based on the cumulative length of the trimmed dumping line, the dumping position width and the estimated number of dumping positions. The target number of dumping positions is determined based on the comparison result between the remaining length of the trimmed dumping line and the preset length. The target number of dumping positions can be accurately determined, thereby improving the utilization rate of dumping position resources.

In some embodiments, the remaining length of the trimmed dumping line is compared with a preset length, and the target number of dumping positions is determined based on the comparison result, including: if the remaining length of the trimmed dumping line is less than the preset length, the estimated number of dumping positions is used as the target number of dumping positions; if the remaining length of the trimmed dumping line is greater than or equal to the preset length, the estimated number of dumping positions is increased by one as the target number of dumping positions.

Specifically, after determining the target number of dumping positions, the remaining length of the trimmed dumping line is compared with the preset length. If the remaining length of the trimmed dumping line is less than the preset length, the estimated number of dumping positions is used as the target number of dumping positions; if the remaining length of the trimmed dumping line is greater than or equal to the preset length, the estimated number of dumping positions plus one is used as the target number of dumping positions, that is, the dumping position edge should be appropriately extended outward. Here, the target number of dumping positions is represented by N, where N is a positive integer and is greater than or equal to N1.

For example, assuming that the body width W1 of the unmanned mining vehicle 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 dumping line vector is 60 meters, then the dumping position width W=W1+W2×2=3.8+0.8×2=5.4 meters is calculated by the above formula (2); and then by the above formula (1), ULength/W=60÷5.4≈11.11 is calculated, and the estimated number of dumping positions N1 is rounded down to 11; further, by the above formula (3), the remaining length of the trimmed dumping line URemain=ULength-W×N1=60-5.4×11=60-59.4=0.6 meters is calculated. Since 0.6 meters is less than 4 meters, the target number of dumping positions N=N1=11.

For another example, assuming that the body width W1 of the unmanned mining vehicle 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 dumping line vector is 64 meters, then the dumping position width W=W1+W2×2=3.8+0.8×2=5.4 meters is calculated by the above formula (2); and then by the above formula (1), ULength/W=64÷5.4≈11.85 is calculated, and the estimated number of dumping positions N1 is rounded down to 11; further, by the above formula (3), the remaining length of the trimmed dumping line URemain=ULength-W×N1=64-5.4×11=64-59.4=4.6 meters is calculated. Since 4.6 meters is less than 4 meters, the target number of dumping positions N=N1+1=12.

According to the technical solution provided by the embodiment of the present disclosure, the number of target dumping sites can be accurately determined, thereby ensuring full utilization of dumping site resources.

In some embodiments, new dumping position resources are generated based on the dumping line trimming method and the target number of dumping positions, including: when the dumping line trimming method is overall trimming, segmenting the trimmed dumping line based on the target number of dumping positions and the dumping position segmentation strategy to obtain at least one dumping section; generating new dumping position resources based on the number of dumping positions in each dumping section in at least one dumping section.

Specifically, the soil dumping line trimming method may include overall trimming and local trimming. When the soil dumping line trimming method is overall trimming, the server performs segmentation processing on the trimmed soil dumping line based on the target number of soil dumping positions and the soil dumping position segmentation strategy, and generates new soil dumping position resources based on the number of soil dumping positions in each soil dumping section of at least one soil dumping section obtained by segmentation processing; when the soil dumping line trimming method is local trimming, the server generates new soil dumping position resources based on the target number of soil dumping positions.

Here, the dumping position segmentation strategy refers to segmenting the trimmed dumping line based on the comparison result of the target dumping position number with the first preset value and the second preset value to obtain at least one dumping section.

The first preset value and the second preset value may be values pre-set by the user based on empirical data, or may be the first preset value and the second preset value obtained by adjusting the first preset value and the second preset value according to actual needs, and the embodiment of the present disclosure is not limited to this. 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 less 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.

Furthermore, if the target number of dumping positions is less than or equal to the first preset value, the trimmed dumping line is segmented to obtain a dumping section. For example, assuming that the target number of dumping positions is 10 and the first preset value is 10, based on the dumping position segmentation strategy, the trimmed dumping line is divided into a dumping section, and the number of dumping positions included in the dumping section is 10.

If the target number of dumping positions is greater than the first preset value and less than or equal to the second preset value, the trimmed dumping line is segmented to obtain two dumping sections, i.e., the first dumping section and the second dumping section; further, if the target number of dumping positions is an even number, the target number of dumping positions is evenly distributed, i.e., the number of dumping positions included in the first dumping section and the second dumping section is the same; if the target number of dumping positions is an odd number, the number of dumping positions included in the first dumping section is one more than the number of dumping positions included in the second dumping section.

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

If the target number of dumping positions is greater than the second preset value, the trimmed dumping line is segmented to obtain at least two dumping sections; further, the target number of dumping positions is divided according to the preset number, that is, one dumping section contains a preset number of dumping positions, and if the remaining number of dumping positions is greater than the third preset value, the remaining number of dumping positions is treated as a separate dumping section; if the remaining number of dumping positions is less than or equal to the third preset value, the remaining number of dumping positions is merged with the number of dumping positions in the previous dumping section.

Here, the preset number may be a value pre-set by the user based on empirical data, or may be a preset number obtained by adjusting the preset number according to actual needs, and the present embodiment does not limit this. 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 present embodiment, the preset number is 20.

The third preset value may be a value pre-set by the user based on empirical data, or may be a third preset value obtained by adjusting the set third preset value according to actual needs, and the embodiment of the present disclosure is not limited to this. 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 the 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 target number of dumping positions is 56, the dumping line containing the preset number is divided into a section (i.e., every 20 are divided into a section), and the trimmed dumping line is segmented to obtain the first dumping section and the second dumping section, wherein the number of dumping positions contained in the first dumping section and the second dumping section are both 20; further, the remaining number of dumping positions is calculated to be 56-20-20=16, which is greater than the third preset value. Therefore, the dumping line containing the remaining number of dumping positions is separately treated as a dumping section, i.e., the third dumping 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 target number of dumping positions is 48, the dumping line containing the preset number is divided into a section (that is, every 20 are divided into a section), and the trimmed dumping line is segmented to obtain the first dumping section and the second dumping section, wherein the number of dumping positions contained in the first dumping section and the second dumping section are both 20; further, the remaining number of dumping positions is calculated to be 48-20-20=8, which is less than the third preset value. Therefore, the remaining number of dumping positions is combined with the number of dumping positions in the second dumping section, that is, the number of dumping positions contained in the second dumping section is 20+8=28.

According to the technical solution provided in the embodiment of the present disclosure, by segmenting the trimmed dumping line based on the dumping position segmentation strategy, different unmanned mine vehicles can perform their respective operations on different dumping lines at the same time, thereby improving the flexibility of the use of the dumping position and the operating efficiency of the unmanned mine vehicles.

In some embodiments, the new soil dumping position resources include multiple soil dumping positions, and the soil dumping position generation method also includes: for a current soil dumping position among the multiple soil dumping positions, extending the soil dumping line where the current soil dumping position is located to the left and right sides by a soil dumping position width to obtain an extended soil dumping position; performing line segment fitting based on the point cloud data of the soil dumping line where the extended soil dumping position is located to obtain a line segment direction vector of the fitted line segment; based on the line segment direction vector, calculating the normal vector of the fitted line segment toward the soil dumping field, and using the normal vector as the soil dumping position direction of the current soil dumping position; calculating the rear axle center coordinates of the vehicle based on the center point of the soil dumping line where the current soil dumping position is located, the soil dumping position direction of the current soil dumping position and the distance from the rear axle center of the vehicle to the soil dumping line where the current soil dumping position is located; calculating the soil dumping position coordinates of the current soil dumping position based on the rear axle center coordinates of the vehicle and the soil dumping position direction of the current soil dumping position.

Specifically, the new soil dumping position resource refers to the soil dumping position resource re-planned based on the trimmed soil dumping line. The new soil dumping position resource may include multiple soil dumping positions, and the generation method of each of the multiple soil dumping positions is the same.

For the current dumping position in the new dumping position resource, first, the dumping line where the current dumping position is located can be extended to the left and right by a dumping position width to obtain the extended dumping position; based on the point cloud data of the dumping line where the extended dumping position is located, the least squares method is used to perform line segment fitting to obtain the line segment direction vector D(x, y) of the fitting line segment, that is, the dumping line direction of the dumping line where the extended dumping position is located; based on the line segment direction vector, the normal vector V(y, -x) of the fitting line segment toward the dumping field is calculated, and the normal vector is used as the dumping position direction of the current dumping position.

It should be noted that the line segment fitting method is not limited to the least squares method described above. For example, it can also be the gradient descent (GD) method, the Gauss-Newton iteration (Gauss-Newton iteration) method, the Levenberg-Marquardt (LM) method, etc.

Then, the rear axle center coordinates of the vehicle can be calculated using the following formula (4):

PR＝P+V×S (4).

Among them, PR represents the center coordinate of the rear axle of the vehicle, P represents the center point of the current dumping position on the corrected dumping line, V represents the dumping position direction of the current dumping position, and S represents the distance from the center of the rear axle of the vehicle to the dumping line where the current dumping position is located.

Furthermore, the coordinates of the four corner points of the current soil dumping position, that is, the soil dumping position coordinates of the current soil dumping position, can be calculated by the following formulas (5)-(8):

PDL＝PR+D×W/2-V×RB (5),

PUL＝PR+D×W/2+V×(L-RB) (6),

PUR＝PR-D×W/2+V×(L-RB) (7),

PDR＝PR-D×W/2-V×RB (8).

Among them, PDL represents the corner point coordinates of the lower left corner point of the current soil dumping position, PUL represents the corner point coordinates of the upper left corner point of the current soil dumping position, PUR represents the corner point coordinates of the upper right corner point of the current soil dumping position, PDR represents the corner point coordinates of the lower right corner point of the current soil dumping position, D represents the direction of the soil dumping line where the soil dumping position is extended, W represents the soil dumping position width of the current soil dumping position, L represents the soil dumping position length of the current soil dumping position, and RB represents the distance from the center of the rear axle of the vehicle to the rear boundary of the current soil dumping position.

It should be noted that after determining the number of dumping positions and the position range of each dumping position on the trimmed dumping line based on the dumping line vector data and the dumping position width, the coordinates of the four corner points of each dumping position can be calculated along the clockwise direction of the trimmed dumping line. Therefore, the current dumping position refers to the dumping position being calculated, that is, the dumping position to be generated.

All the above optional technical solutions can be combined in any way to form optional embodiments of the present disclosure, which will not be described in detail here. In addition, the order of the sequence numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.

As shown in FIG2 , the dumping line 20 is segmented to obtain a separate dumping section. The dumping section includes 14 dumping positions 21, each of which has an independent dumping position number, i.e., dumping position 1-1 to dumping position 1-14. In addition, the orientation of each dumping position is in the direction of the normal line of the dumping line toward the dumping field, as shown by the arrow.

It should be noted that since the dumping positions generated in the area with larger curvature of the local dumping line (for example, dumping position 1-6 and dumping position 1-7) have a certain overlap, the server will not dispatch unmanned mining vehicles to the overlapping area at the same time for dumping operations. In other words, there will not be two unmanned mining vehicles at the dumping position 1-6 and the dumping position 1-7 to discharge earth and stone at the same time.

As shown in Fig. 3, the soil discharge line 30 is segmented to obtain two soil discharge sections, i.e., the first soil discharge section and the second soil discharge section. The first soil discharge section includes 20 soil discharge positions 31, each of which has a segment number and a soil discharge position number, i.e., soil discharge position 3-1 to soil discharge position 3-20 (only soil discharge positions 3-16 to soil discharge position 3-20 are shown in Fig. 3); the second soil discharge section includes 14 soil discharge positions 32, each of which has a segment number and a soil discharge position number, i.e., soil discharge position 4-1 to soil discharge position 4-14.

FIG4 is a flow chart of another method for generating a soil dumping position provided by an embodiment of the present disclosure. The method for generating a soil dumping position in FIG4 can be executed by a server or an electronic device. As shown in FIG4 , the method for generating a soil dumping position includes:

S401, when it is monitored that the dumping position in the operation area is full or about to be full, receiving point cloud data of the trimmed dumping line collected and uploaded by the vehicle;

S402, based on the point cloud data of the trimmed soil discharge line, calculating the cumulative length of the trimmed soil discharge line, and using the cumulative length of the trimmed soil discharge line as updated soil discharge line vector data;

S403, dividing the cumulative length of the trimmed dumping line by the width of the dumping position by rounding down to obtain an estimated number of dumping positions;

S404, calculating the remaining length of the trimmed dumping line based on the cumulative length of the trimmed dumping line, the dumping position width and the estimated number of dumping positions;

S405, comparing the remaining length of the trimmed dumping line with a preset length, and determining the target dumping position number based on the comparison result;

S406, determining whether the soil dumping line trimming method is overall trimming, if yes, executing S407; otherwise, executing S409;

S407, based on the target number of dumping positions and the dumping position segmentation strategy, segment the trimmed dumping line to obtain at least one dumping section;

S408, generating new soil discharge position resources based on the number of soil discharge positions in each soil discharge section in at least one soil discharge section;

S409: Generate new soil dumping position resources based on the target number of soil dumping positions.

According to the technical solution provided in the embodiment of the present disclosure, the estimated number of dumping positions is determined by comprehensively considering factors such as the cumulative length of the dumping line vector, the body width of the unmanned mining car, and the preset width. The remaining length of the trimmed dumping line is calculated based on the cumulative length of the trimmed dumping line, the dumping position width and the estimated number of dumping positions. The target number of dumping positions is determined based on the comparison result between the remaining length of the trimmed dumping line and the preset length. The target number of dumping positions can be accurately determined, thereby improving the utilization rate of dumping position resources.

In addition, by segmenting the repaired dumping line based on the dumping position segmentation strategy, different unmanned mine vehicles can perform their respective operations on different dumping lines at the same time, thereby improving the flexibility of the use of dumping position resources and the operating efficiency of the unmanned mine vehicles.

The following are embodiments of the device disclosed herein, which can be used to execute the method embodiments disclosed herein. For details not disclosed in the device embodiments disclosed herein, please refer to the method embodiments disclosed herein.

FIG5 is a schematic diagram of the structure of a soil dumping position generating device according to an embodiment of the present disclosure. As shown in FIG5 , the soil dumping position generating device comprises:

The receiving module 501 is configured to receive a dumping position generation request, wherein the dumping position generation request is used to request the generation of a new dumping position resource and carries a dumping line trimming method and point cloud data of the trimmed dumping line;

An updating module 502 is configured to update the vector data of the soil removal line based on the point cloud data of the soil removal line after the modification to obtain updated vector data of the soil removal line;

The calculation module 503 is configured to calculate the target dumping position quantity based on the updated dumping line vector data;

The generation module 504 is configured to generate new dumping position resources based on the dumping line trimming method and the target number of dumping positions.

According to the technical solution provided by the embodiment of the present disclosure, a dumping position generation request is received, wherein the dumping position generation request is used to request the generation of a new dumping position resource and carries a dumping line trimming method and point cloud data of the trimmed dumping line; based on the point cloud data of the trimmed dumping line, the dumping line vector data is updated to obtain the updated dumping line vector data; based on the updated dumping line vector data, the target number of dumping positions is calculated; based on the dumping line trimming method and the target number of dumping positions, new dumping position resources are generated, and when the dumping line of the open-pit mine dumping yard changes, the number of dumping positions can be determined based on the updated dumping line vector data, and new dumping position resources can be generated based on the number of dumping positions and the dumping line trimming method, thereby improving the efficiency and safety of the dumping operation.

In some embodiments, when it is monitored that the dumping position in the working area is full or about to be full, the update module 502 of Figure 5 receives the point cloud data of the trimmed dumping line collected and uploaded by the vehicle, calculates the cumulative length of the trimmed dumping line based on the point cloud data of the trimmed dumping line, and uses the cumulative length of the trimmed dumping line as the updated dumping line vector data.

In some embodiments, the update module 502 of Figure 5 also rounds down the result of dividing the cumulative length of the trimmed soil dumping line by the width of the soil dumping position to obtain an estimated number of soil dumping positions, calculates the remaining length of the trimmed soil dumping line based on the cumulative length of the trimmed soil dumping line, the width of the soil dumping position and the estimated number of soil dumping positions, compares the remaining length of the trimmed soil dumping line with the preset length, and determines the target number of soil dumping positions based on the comparison result.

In some embodiments, if the remaining length of the trimmed dumping line is less than the preset length, the update module 502 of Figure 5 will use the estimated number of dumping positions as the target number of dumping positions; if the remaining length of the trimmed dumping line is greater than or equal to the preset length, the update module 502 of Figure 5 will add one to the estimated number of dumping positions as the target number of dumping positions.

In some embodiments, when the soil dumping line trimming method is overall trimming, the generation module 504 of Figure 5 segments the trimmed soil dumping line based on the target number of soil dumping positions and the soil dumping position segmentation strategy to obtain at least one soil dumping section, and generates new soil dumping position resources based on the number of soil dumping positions in each soil dumping section in at least one soil dumping section.

In some embodiments, if the target number of soil discharge positions is less than or equal to a first preset value, the generation module 504 of Figure 5 segments the trimmed soil discharge line to obtain one soil discharge section; if the target number of soil discharge positions is greater than the first preset value and less than or equal to a second preset value, the generation module 504 of Figure 5 segments the trimmed soil discharge line to obtain two soil discharge sections; if the target number of soil discharge positions is greater than the second preset value, the generation module 504 of Figure 5 segments the trimmed soil discharge line to obtain at least two soil discharge sections.

In some embodiments, when the soil dumping line trimming method is local trimming, the generation module 504 of FIG. 5 generates new soil dumping position resources based on the target number of soil dumping positions.

In some embodiments, the new soil dumping position resource includes multiple soil dumping positions. For the current soil dumping position among the multiple soil dumping positions, the generation module 504 of Figure 5 extends the soil dumping line where the current soil dumping position is located to the left and right sides by a soil dumping position width to obtain an extended soil dumping position; performs line segment fitting based on the point cloud data of the soil dumping line where the extended soil dumping position is located to obtain the line segment direction vector of the fitted line segment; based on the line segment direction vector, calculates the normal vector of the fitted line segment toward the soil dumping field, and uses the normal vector as the soil dumping position orientation of the current soil dumping position; calculates the rear axle center coordinates of the vehicle based on the center point of the soil dumping line where the current soil dumping position is located, the soil dumping position orientation of the current soil dumping position and the distance from the rear axle center of the vehicle to the soil dumping line where the current soil dumping position is located; calculates the soil dumping position coordinates of the current soil dumping position based on the rear axle center coordinates of the vehicle and the soil dumping position orientation of the current soil dumping position.

The implementation process of the functions and effects of each module in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, which will not be repeated here.

FIG6 is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. As shown in FIG6 , the electronic device 60 of the embodiment includes: a processor 601, a memory 602, and a computer program 603 stored in the memory 602 and executable on the processor 601. When the processor 601 executes the computer program 603, the steps in the above-mentioned various method embodiments are implemented. Alternatively, when the processor 601 executes the computer program 603, the functions of the modules/units in the above-mentioned various device embodiments are implemented.

Exemplarily, the computer program 603 may be divided into one or more modules/units, which are stored in the memory 602 and executed by the processor 601 to complete the present disclosure. The one or more modules/units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 603 in the electronic device 60.

The electronic device 60 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 60 may include, but is not limited to, a processor 601 and a memory 602. Those skilled in the art may understand that FIG. 6 is only an example of the electronic device 60 and does not constitute a limitation on the electronic device 60. The electronic device 60 may include more or fewer components than shown in the figure, or may combine certain components, or different components. For example, the electronic device may also include an input/output device, a network access device, a bus, etc.

Processor 601 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

The memory 602 may be an internal storage unit of the electronic device 60, for example, a hard disk or memory of the electronic device 60. The memory 602 may also be an external storage device of the electronic device 60, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (Flash Card), etc. equipped on the electronic device 60. Further, the memory 602 may also include both an internal storage unit of the electronic device 60 and an external storage device. The memory 602 is used to store 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.

The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present disclosure. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

In the embodiments provided in the present disclosure, it should be understood that the disclosed devices/electronic devices and methods can be implemented in other ways. For example, the device/electronic device embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. Multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

If the integrated module/unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present disclosure implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. The computer program may include computer program code, which may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signal and telecommunication signal.

The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should all be included in the protection scope of the present disclosure.

Claims

A method for generating a soil dumping position, characterized by comprising:

Receive a dumping position generation request, wherein the dumping position generation request is used to request generation of a new dumping position resource and carries a dumping line trimming method and point cloud data of the trimmed dumping line;

Based on the point cloud data of the trimmed soil discharge line, the soil discharge line vector data is updated to obtain updated soil discharge line vector data;

Calculating the target number of dumping positions based on the updated dumping line vector data;

Based on the dumping line trimming method and the target number of dumping positions, the new dumping position resources are generated.
The method according to claim 1 is characterized in that the step of updating the vector data of the soil removal line based on the point cloud data of the trimmed soil removal line to obtain the updated vector data of the soil removal line comprises:

When it is detected that the dumping position in the operation area is full or about to be full, receiving the point cloud data of the trimmed dumping line collected and uploaded by the vehicle;

Calculating the cumulative length of the trimmed earth removal line based on the point cloud data of the trimmed earth removal line;

The accumulated length of the trimmed earth removal line is used as the updated earth removal line vector data.
The method according to claim 2 is characterized in that the step of calculating the target number of dumping positions based on the updated dumping line vector data comprises:

The result of dividing the cumulative length of the trimmed dumping line by the width of the dumping position is rounded down to obtain an estimated number of dumping positions;

Calculating the remaining length of the trimmed dumping line based on the cumulative length of the trimmed dumping line, the dumping position width and the estimated number of dumping positions;

The remaining length of the trimmed dumping line is compared with a preset length, and the target number of dumping positions is determined based on the comparison result.
The method according to claim 3 is characterized in that the comparing the remaining length of the trimmed dumping line with a preset length and determining the target dumping position number based on the comparison result comprises:

If the remaining length of the trimmed dumping line is less than the preset length, the estimated number of dumping positions is used as the target number of dumping positions;

If the remaining length of the trimmed dumping line is greater than or equal to the preset length, the estimated number of dumping positions is increased by one as the target number of dumping positions.
The method according to claim 1 is characterized in that the step of generating the new dumping position resource based on the dumping line trimming method and the target number of dumping positions comprises:

In the case where the soil dumping line is trimmed in an overall manner, segmenting the trimmed soil dumping line based on the target number of soil dumping positions and the soil dumping position segmentation strategy to obtain at least one soil dumping section;

The new soil dumping position resource is generated based on the number of soil dumping positions in each of the at least one soil dumping section.
The method according to claim 5 is characterized in that the step of segmenting the trimmed dumping line based on the target dumping position number and the dumping position segmentation strategy to obtain at least one dumping section comprises:

If the target dumping position number is less than or equal to a first preset value, segmenting the trimmed dumping line to obtain a dumping section;

If the target dumping position number is greater than the first preset value and less than or equal to the second preset value, segmenting the trimmed dumping line to obtain two dumping sections;

If the target number of dumping positions is greater than the second preset value, the trimmed dumping line is segmented to obtain at least two dumping sections.
The method according to claim 1 is characterized in that the step of generating the new dumping position resource based on the dumping line trimming method and the target number of dumping positions comprises:

In the case where the dumping line trimming method is local trimming, the new dumping position resource is generated based on the target number of dumping positions.
The method according to any one of claims 1 to 7, characterized in that the new soil dumping location resource includes a plurality of soil dumping locations, and the method further comprises:

For a current soil discharge position among the plurality of soil discharge positions,

Extending the soil discharge line at the current soil discharge position to the left and right sides by a soil discharge position width to obtain an extended soil discharge position;

Perform line segment fitting based on the point cloud data of the soil discharge line where the extended soil discharge position is located to obtain a line segment direction vector of the fitting line segment;

Based on the line segment direction vector, a normal vector of the fitting line segment toward the dumping field is calculated, and the normal vector is used as the dumping position direction of the current dumping position;

Calculate the center coordinates of the rear axle of the vehicle based on the center point of the dumping line where the current dumping position is located, the dumping position orientation of the current dumping position, and the distance from the center of the rear axle of the vehicle to the dumping line where the current dumping position is located;

The soil dumping position coordinates of the current soil dumping position are calculated based on the rear axle center coordinates of the vehicle and the soil dumping position orientation of the current soil dumping position.
A device for generating a soil dumping position, characterized in that it comprises:

A receiving module is configured to receive a dumping position generation request, wherein the dumping position generation request is used to request the generation of a new dumping position resource and carries a dumping line trimming method and point cloud data of the trimmed dumping line;

An updating module is configured to update the earth removal line vector data based on the point cloud data of the trimmed earth removal line to obtain updated earth removal line vector data;

A calculation module is configured to calculate the target number of dumping positions based on the updated dumping line vector data;

The generation module is configured to generate the new soil dumping position resource based on the soil dumping line trimming method and the target soil dumping position number.
An electronic device comprises a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method as claimed in any one of claims 1 to 8 when executing the computer program.
A computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the method as claimed in any one of claims 1 to 8.