CN112053347A - Method and device for detecting state of soil discharge position, electronic equipment and storage medium - Google Patents
Method and device for detecting state of soil discharge position, electronic equipment and storage medium Download PDFInfo
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Abstract
The utility model provides a method, a device, an electronic device and a storage medium for detecting the state of a soil discharge position, which are applied to the technical field of mining and comprise: the method comprises the steps of collecting point cloud data in a current soil discharging position area, calculating a use state parameter of the current soil discharging position according to the point cloud data in the current soil discharging position area, and judging whether the current soil discharging position can be continuously used or not according to the use state parameter of the current soil discharging position. The high-precision real-time detection of the state change of the earth discharge position is realized by utilizing the point cloud data collected in real time, and the efficiency of automatic driving earth discharge operation is improved.
Description
Technical Field
The present disclosure relates to the field of mining technologies, and in particular, to a method and an apparatus for detecting a state of a dump, an electronic device, and a storage medium.
Background
Mining is the foundation of modern industry, is limited by excavating equipment for the early years, mostly adopts a tunnel excavating mode, and then open-pit mining modes are gradually increased along with the large-area application of heavy machinery. In the open-air excavation mode, surface earth and stones are required to be stripped to expose a mine layer for excavation, the stripped earth and stones are conveyed to a dumping yard through a mining dump truck to be dumped at a specified dumping position, and the process is almost completed manually at present.
With the introduction and popularization of concepts such as "smart mine" and "smart port", automatic driving has begun to fall on these relatively closed scenes. At present, the state of the soil discharging position is mainly detected by estimating through field operators by experience, and a mature and reliable automatic detection method for the state of the soil discharging position is not available.
Disclosure of Invention
The main objective of the present application is to provide a method and an apparatus for detecting a state of a soil discharge position, an electronic device, and a storage medium, which can automatically detect the state of the soil discharge position in real time, and improve the efficiency of an automatic driving earthwork.
In order to achieve the above object, a first aspect of the embodiments of the present application provides a method for detecting a state of a soil discharge position, including:
collecting point cloud data in a current dumping position area;
calculating the use state parameters of the current soil discharging position according to the point cloud data in the current soil discharging position area;
and judging whether the current soil discharging position can be continuously used or not according to the using state parameters of the current soil discharging position.
Optionally, the calculating the use state parameter of the current discharging position according to the point cloud data in the current discharging position region includes:
carrying out ground point cloud and slope point cloud separation on the point cloud data in the current dump site area, and extracting a current retaining wall line, a slope peak line and a slope boundary line;
and calculating the height from the slope peak to the ground, the ground projection distance between the slope peak line and the boundary of the slope land, and the plane projection distance between the boundary of the slope land and the current retaining wall line.
Optionally, the method further includes:
collecting point cloud data in an adjacent soil discharging position area adjacent to the current soil discharging position;
calculating the invaded state parameters of the adjacent soil discharge positions according to the current soil discharge position and the point cloud data in the adjacent soil discharge position area;
and adjusting the adjacent soil discharge positions according to the invaded state parameters of the adjacent soil discharge positions.
Optionally, before calculating the use state parameter of the current discharging position according to the point cloud data in the current discharging position region, the method includes:
judging whether the point cloud data in the current dumping position area is qualified or not based on a preset detection algorithm;
if the current position is qualified, the step of calculating the use state parameters of the current position according to the point cloud data in the current position area is executed;
and if not, executing the step of collecting the point cloud data in the current dumping position area again.
Optionally, before calculating the invaded state parameter of the adjacent discharging position according to the point cloud data in the current discharging position and the adjacent discharging position region, the method includes:
judging whether the point cloud data in the current soil discharging position and the adjacent soil discharging position area are qualified or not based on preset detection rules;
if the current position of the earth discharge is qualified, the step of calculating the invaded state parameters of the adjacent earth discharge positions according to the point cloud data in the current earth discharge position and the adjacent earth discharge position area is executed;
and if not, executing the step of collecting the point cloud data in the adjacent soil discharging position area adjacent to the current soil discharging position again.
Optionally, the preset detection rule includes:
dividing each soil discharge position into a plurality of grids, wherein the soil discharge positions comprise the current soil discharge position and/or the adjacent soil discharge positions;
counting the number of grids into which the point cloud falls;
when the number of grids into which the point clouds fall exceeds a preset threshold value, the point cloud data in the soil discharging position area are qualified;
and when the number of the grids into which the point cloud falls does not exceed a preset threshold value, the point cloud data in the soil discharging position area are unqualified.
Optionally, the determining, according to the usage state parameter of the current discharging position, whether the current discharging position can be continuously used includes:
calculating the difference between the ground projection distance of the slope crest line and the boundary of the slope and the plane projection distance of the boundary of the slope and the current retaining wall line;
and judging whether the current soil discharging position can be continuously used or not according to the height from the slope peak to the ground, the difference value between the ground projection distance of the slope peak line and the slope land boundary line and the plane projection distance of the slope land boundary line and the current retaining wall line.
A second aspect of the embodiments of the present application provides a device for detecting a state of a soil discharge position, including:
the acquisition module is used for acquiring point cloud data in the current soil discharging position area;
the calculation module is used for calculating the use state parameters of the current soil discharging position according to the point cloud data in the current soil discharging position area;
and the judging module is used for judging whether the current soil discharging position can be continuously used or not according to the using state parameter of the current soil discharging position.
A third aspect of embodiments of the present application provides an electronic device, including:
the system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to implement the method for detecting the state of the gutter position provided by the first aspect of the embodiment of the present application.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for detecting a position of a dump provided by the first aspect of the embodiments of the present application.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 schematically illustrates an application scenario of a method for detecting a soil discharge position state provided by an embodiment of the present disclosure;
FIG. 2 schematically illustrates a flow chart of a method of detecting a position of a dump in accordance with an embodiment of the disclosure;
FIG. 3 schematically illustrates a cross-sectional view of a current dump site of an embodiment of the present disclosure;
FIG. 4 schematically illustrates a flow chart of a method of detecting a position of a dump in accordance with an embodiment of the disclosure;
FIG. 5 schematically illustrates a flow chart of a method of detecting a state of a dump site in an embodiment of the disclosure;
FIG. 6 schematically illustrates a top view of a dumping site condition in one embodiment of the present disclosure;
fig. 7 schematically shows a block diagram of a gutter position status detection apparatus according to an embodiment of the present disclosure;
fig. 8 schematically shows a hardware configuration diagram of an electronic device.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The words "a", "an" and "the" and the like as used herein are also intended to include the meanings of "a plurality" and "the" unless the context clearly dictates otherwise. Furthermore, the terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B and C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). Where a convention analogous to "A, B or at least one of C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B or C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). It will be further understood by those within the art that virtually any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase "a or B" should be understood to include the possibility of "a" or "B", or "a and B".
Some block diagrams and/or flow diagrams are shown in the figures. It will be understood that some blocks of the block diagrams and/or flowchart illustrations, or combinations thereof, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the instructions, which execute via the processor, create means for implementing the functions/acts specified in the block diagrams and/or flowchart block or blocks.
Accordingly, the techniques of this disclosure may be implemented in hardware and/or software (including firmware, microcode, etc.). In addition, the techniques of this disclosure may take the form of a computer program product on a computer-readable medium having instructions stored thereon for use by or in connection with an instruction execution system. In the context of this disclosure, a computer-readable medium may be any medium that can contain, store, communicate, propagate, or transport the instructions. For example, the computer readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium. Specific examples of the computer readable medium include: magnetic storage devices, such as magnetic tape or Hard Disk Drives (HDDs); optical storage devices, such as compact disks (CD-ROMs); a memory, such as a Random Access Memory (RAM) or a flash memory; and/or wired/wireless communication links.
The embodiment of the disclosure provides a method for detecting the state of a soil discharge position, which comprises the following steps: collecting point cloud data in a current dumping position area; calculating the use state parameters of the current soil discharging position according to the point cloud data in the current soil discharging position area; and judging whether the current soil discharging position can be continuously used or not according to the using state parameters of the current soil discharging position.
Fig. 1 schematically illustrates an application scenario of the method for detecting a soil discharge position state provided by the embodiment of the disclosure.
As shown in figure 1, the marshalling and dumping positions in the dumping ground comprise a dumping position 1-A, a dumping position 1-B and a dumping position 1-C. After the load-bearing ore block finishes the operation of the earthwork at the soil discharge position 1-B, the earthwork falls into the current soil discharge position 1-B, or also falls into the adjacent soil discharge position 1-A and/or the adjacent soil discharge position 1-C adjacent to the current soil discharge position 1-B. The empty-load ore block drives away from the dump and returns to the loading area to continue to pull and convey earthwork.
After the load-bearing ore card finishes the operation of the dumping block, in order to evaluate the influence of the current dumping block operation on the current dumping position 1-B and/or the adjacent dumping position 1-A and the adjacent dumping position 1-C, in the process of the no-load ore card driving away from the current dumping position 1-B, point cloud data of the current dumping position 1-B are collected, so that the use state parameter of the current dumping position 1-B is calculated according to the point cloud data of the current dumping position 1-B, and whether the current dumping position 1-B can be continuously used for dumping or not is judged according to the use state parameter of the current dumping position 1-B. Or point cloud data of an adjacent soil discharging position 1-A and an adjacent soil discharging position 1-C adjacent to the current soil discharging position 1-B are collected, the invaded state parameters of the adjacent soil discharging position 1-A and the adjacent soil discharging position 1-C are calculated according to the point cloud data of the current soil discharging position 1-B, the adjacent soil discharging position 1-A and the adjacent soil discharging position 1-C, and the adjacent soil discharging position 1-A and the adjacent soil discharging position 1-C are adjusted according to the invaded state parameters of the adjacent soil discharging position 1-A and the adjacent soil discharging position 1-C.
It will be appreciated that the grouping positions in the dump shown in fig. 1, including the positions 1-a, 1-B, 1-C, are only one illustrative example, and that the grouping positions in the dump may also include further positions, such as the positions 1-D, 1-E, etc. Meanwhile, the grouping mode of the soil discharging positions is not limited to 1-A, 1-B and the like, and can also be A-1, A-2, A-3 and the like, which are not limited in the disclosure.
Fig. 2 schematically shows a flow chart of a method of detecting a state of a soil discharge position according to an embodiment of the present disclosure.
As shown in fig. 2, the soil discharge position state detecting method includes operations S201 to S203.
In operation S201, point cloud data within a current soil discharge location area is collected.
In operation S202, a use state parameter of the current discharging position is calculated according to the point cloud data in the current discharging position area.
In operation S203, whether the current discharging position can be used continuously is determined according to the use state parameter of the current discharging position.
According to the embodiment, the point cloud data in the current discharging position area is collected, the using state parameter of the current discharging position is calculated according to the point cloud data in the current discharging position area, and whether the current discharging position can be used continuously or not is judged according to the using state parameter of the current discharging position. The high-precision real-time detection of the state change of the earth discharge position is realized by utilizing the point cloud data collected in real time, and the efficiency of automatic driving earth discharge operation is improved.
In the present disclosure, point cloud data refers to a three-dimensional point data set of a target appearance surface obtained by a measuring instrument. In the present disclosure, point cloud data refers to a three-dimensional point data set of the appearance surface after the dump is unloaded.
In the disclosure, a measuring instrument such as a laser radar can be mounted on the mine card for collecting point cloud data, and particularly, the laser radar mounted on the mine card can be used for collecting point cloud data in the process that the no-load mine card after the earth is unloaded is driven away from the earth discharge position.
In an optional embodiment, when the point cloud data is collected, the speed of the empty-load mine card driving away from the soil discharge position is as slow as possible so as to ensure that the measuring instrument can completely collect the required point cloud data, and the speed of the point cloud data can be within 6 kilometers per hour. Meanwhile, the point cloud data should be continuously acquired in the process that the empty-load mine card is driven to be away from the soil discharging position for a long distance, so that the measuring instrument can be ensured to be capable of completely acquiring the required point cloud data. For example, as shown in fig. 1, during the process that the empty mine card reaches a straight distance of 50 meters from the starting position, the collection point cloud data can be slowly driven at a speed of not higher than 6 kilometers per hour.
More, in practical situations, the point cloud data collected by the empty-load mine card is generally the original point cloud data of the whole dumping site, which includes the point cloud data in the current dumping position area. In an alternative embodiment, after the raw point cloud data is collected, the dump wall and the grouping dump may be matched, and the point cloud within the current dump range may be cropped.
In an alternative embodiment, after the point cloud data in the current discharging position area is obtained, the point cloud data may be preprocessed, for example, voxel filtering to reduce data, radius filtering, gaussian filtering to filter noise, and the like.
In the present disclosure, the usage state parameter of the current soil discharging position may include a height from a hill of an earthwork to the ground in the current soil discharging position, and/or a ground projected distance of a hill line and a boundary line of a slope, and/or a plane projected distance of the boundary line of the slope and a current retaining wall line.
In the disclosure, whether the current discharging position can be continuously used or not is judged according to the using state parameter of the current discharging position, and whether the current discharging position can be continuously used or not can be judged according to self-set stop conditions, continuous using conditions and the like. For example, when the use state parameter of the current soil discharging position comprises the height from the slope peak to the ground, the current soil discharging position can not be used continuously when the height from the slope peak to the ground is more than 1.6, and can be used continuously when the height from the slope peak to the ground is not more than 1.6.
In one embodiment of the present disclosure, before operation S202, the method further includes: judging whether the point cloud data in the current dumping position area is qualified or not based on a preset detection algorithm; if yes, executing operation S202; if not, S201 is executed again.
According to the embodiment, the collected point cloud data can be judged, and the qualified point cloud data can accurately represent the state of the current soil discharging position. Therefore, the qualified point cloud data can be used for calculating the use state parameters of the current soil discharging position, the accuracy of the use state parameters of the current soil discharging position is improved, and the accuracy of judging whether the current soil discharging position can be used continuously or not is improved. Meanwhile, for unqualified point cloud data, the processing closed loop of the unqualified point cloud data can be realized, and the process of detecting the soil discharge position state is perfected.
In operation S201, the larger the radian of the track of the empty-load mine card driving away from the discharging position is, the better the quality of the collected point cloud is, but the uncertainty of the point cloud quality is also caused by the radian of the driving away track due to the terrain and the position of the discharging position, and the shielding of a possible obstacle or other factors during the collection process, so that the point cloud quality needs to be verified to determine whether the point cloud data collected in the current discharging position can truly represent the state of the current discharging position.
In one embodiment of the present disclosure, the preset detection rule includes: dividing the current soil discharging position into a plurality of grids, and counting the number of the grids into which a point cloud falls; when the number of grids into which the point cloud falls exceeds a preset threshold value, the point cloud data in the current soil discharging position area is qualified; and when the number of the grids into which the point clouds fall does not exceed a preset threshold value, the point cloud data in the current soil discharging position area are unqualified.
The number of the divided grids and the form of the divided grids are not limited by the present disclosure, and meanwhile, the specific value of the preset threshold is not limited, and those skilled in the art can make specific selections as needed. Illustratively, the soil discharge positions are uniformly divided into 100 grids, the number of the grids into which the point clouds in the current soil discharge position area fall is counted (namely, the number of the grids into which the point clouds fall is recorded as 1), when the number of the grids into which the point clouds fall exceeds 68, the collected point cloud data in the current soil discharge position area is qualified, and when the number of the grids into which the point clouds fall does not exceed 68, the collected point cloud data in the current soil discharge position area is unqualified, and the point clouds need to be collected again.
In the method, the point cloud data is collected again, the point cloud data in the target area can be collected again by arranging a planned reasonable path of the current mine card, and the point cloud data of the target area can also be collected by using other mine cards working in a refuse dump. The present disclosure is not so limited.
In one embodiment of the present disclosure, operation S202 includes: carrying out ground point cloud and slope point cloud separation on the point cloud data in the current dump site area, and extracting a current retaining wall line, a slope peak line and a slope boundary line; and calculating the height from the slope peak to the ground, the ground projection distance between the slope peak line and the boundary of the slope land, and the plane projection distance between the boundary of the slope land and the current retaining wall line.
As shown in fig. 3, fig. 3 schematically shows a cross-sectional view of a current soil discharge site according to an embodiment of the present disclosure, where dH represents a height from a hill to the ground, dS represents a ground projection distance between a hill line and a boundary of a hill, and dvovein represents a plane projection distance between a boundary of a hill and a current retaining wall line, and dH represents a height from a hill to the ground, dS represents a ground projection distance between a hill line and a boundary of a hill, and dMovein represents a plane projection distance between a boundary of a hill and a current retaining wall line.
It should be noted that, generally, after the first soil discharge at the soil discharge position, the slope line of the earthwork will move outward (i.e. the right side of fig. 3) relative to the original retaining wall line, and at this time, it is determined that the soil discharge position can be used continuously. The present disclosure illustrates the case of inward shifting of the hill line of the earthwork.
In one embodiment of the present disclosure, operation S203 includes: calculating the difference between the ground projection distance of the slope crest line and the boundary of the slope and the plane projection distance of the boundary of the slope and the current retaining wall line; and judging whether the current soil discharge position can be continuously used or not according to the height dH from the slope peak to the ground, the difference value between the ground projection distance dS between the slope peak line and the slope land boundary line and the plane projection distance dMovein between the slope land boundary line and the current retaining wall line.
In the present disclosure, a difference between a ground projected distance dS of a slope peak line and a slope ground boundary and a plane projected distance dMovein of the slope ground boundary and a current retaining wall line is represented as S1, and a plane projected distance dMovein of the slope ground boundary and the current retaining wall line is represented as S2The height dH of the hill to the ground is denoted as H. H, S can be set as required by those skilled in the art1、S2To determine whether the current position can be used continuously. As shown in table 1, a possible determination manner is schematically shown, in which "x" indicates that the current discharging position is not usable any more, and "v" indicates that the current discharging position is usable any more.
TABLE 1
Fig. 4 schematically shows a flowchart of a method of detecting a state of a soil discharge position according to an embodiment of the present disclosure.
As shown in fig. 4, the method further includes operations S401 to S403.
In operation S401, point cloud data in an adjacent discharging position region adjacent to the current discharging position is collected.
In operation S402, according to the current discharging position and the point cloud data in the adjacent discharging position region, an invaded state parameter of the adjacent discharging position is calculated.
In operation S403, the adjacent discharging position is adjusted according to the invaded state parameter of the adjacent discharging position.
According to this embodiment, through the point cloud data of the adjacent position of dumping of gathering adjacent position of dumping adjacent with current position of dumping, can learn the condition that adjacent position of dumping was invaded by the earthwork to timely dynamic adjustment position of dumping promotes the efficiency of the operation of the earthwork, avoids follow-up ore deposit card to use the reduction of the efficiency of dumping that the adjacent position of dumping occupied leads to.
More specifically, in practical situations, the point cloud data collected by the empty-load mine card is generally original point cloud data of the whole discharging site, which includes the current discharging position and the point cloud data in the adjacent discharging position area adjacent to the current discharging position. In an alternative embodiment, operation S201 is performed together with operation S401, and after the current discharging position and the original point cloud data in the adjacent discharging position area adjacent to the current discharging position are collected, the retaining wall of the discharging yard and the grouping discharging position may be matched, and the current discharging position and the point cloud in the adjacent discharging position area adjacent to the current discharging position are clipped. As shown in fig. 5, it is a schematic flow chart when operation S201 is implemented together with operation S401 (S501 in fig. 5).
In an alternative embodiment, after the point cloud data in the adjacent discharging position areas are obtained, the point cloud data may also be preprocessed, for example, voxel filtering to reduce data, radius filtering, gaussian filtering to remove noise, and the like.
In the present disclosure, the invaded state parameter of the adjacent soil discharge site may be a length of a slope boundary line of the earthwork invading the adjacent soil discharge site from the current soil discharge site in a case of a preset length from the original retaining wall line. As shown in fig. 6, a top view schematically showing the state of the soil discharge position in an embodiment of the present disclosure, wherein the current soil discharge position is exemplified by the soil discharge position 1-B, the adjacent soil discharge positions are exemplified by the soil discharge position 1-a and the soil discharge position 1-C, the solid curve is a boundary line between the earth and the ground, the preset length is exemplified by 1.4 meters, and the invaded state parameter is represented as dInvade.
In the disclosure, the adjacent discharging positions are adjusted according to the invaded state parameter of the adjacent discharging positions, and whether the adjacent discharging positions need to be adjusted can be judged according to the invaded state parameter dInvade which is set by the user. One possible adjustment condition is schematically shown in table 2.
TABLE 2
In one embodiment of the present disclosure, before operation S402, the method further includes: judging whether the point cloud data in the current soil discharging position and the adjacent soil discharging position area are qualified or not based on preset detection rules; if yes, executing operation S402; if not, operations S101 and S401 are performed again.
For the same reason as the operation S201, the no-load ore card is affected by external conditions in the process of collecting the point cloud data, and the quality of the point cloud has uncertainty, so that the quality of the point cloud needs to be verified to determine whether the point cloud data collected in the current discharging position and the adjacent discharging position can truly represent the states of the current discharging position and the adjacent discharging position.
In one embodiment of the present disclosure, the preset detection rule includes: dividing the current soil discharging position and the adjacent soil discharging positions into a plurality of grids; counting the number of grids into which the point cloud falls; when the number of grids into which point clouds fall exceeds a preset threshold value, the point cloud data in the current soil discharging position and the adjacent soil discharging position are qualified; and when the number of the grids into which the point clouds fall does not exceed a preset threshold value, the point cloud data in the current soil discharging position and the adjacent soil discharging position area are unqualified.
Fig. 7 schematically shows a block diagram of a soil discharge position state detection apparatus according to an embodiment of the present disclosure.
As shown in fig. 7, the device for detecting the state of the soil discharge position includes an acquisition module 701, a calculation module 702, and a determination module 703.
An acquisition module 701, configured to acquire point cloud data in a current soil discharge location area;
a calculating module 702, configured to calculate a use state parameter of the current discharging position according to the point cloud data in the current discharging position region;
a judging module 703, configured to judge whether the current soil discharging position can be used continuously according to the usage state parameter of the current soil discharging position.
In one embodiment of the present disclosure, the calculation module 702 includes:
the separation and extraction submodule is used for carrying out ground point cloud and slope point cloud separation on the point cloud data in the current dumping position area and extracting a current retaining wall line, a slope peak line and a slope boundary line;
and the calculation submodule is used for calculating the height from the slope peak to the ground, the ground projection distance between the slope peak line and the boundary of the slope land and the plane projection distance between the boundary of the slope land and the current retaining wall line.
In one embodiment of the present disclosure, the apparatus further includes:
the second acquisition module is also used for acquiring point cloud data in an adjacent soil discharging position area adjacent to the current soil discharging position;
the second calculation module is used for calculating the invaded state parameters of the adjacent soil discharging positions according to the current soil discharging position and the point cloud data in the adjacent soil discharging position area;
and the adjusting module is used for adjusting the adjacent soil discharging positions according to the invaded state parameters of the adjacent soil discharging positions.
In one embodiment of the present disclosure, the apparatus further includes:
the first judgment module is used for judging whether the point cloud data in the current soil discharging position area is qualified or not based on a preset detection algorithm; if qualified, the calculation module 702 is executed; and if not, acquiring the module 701.
In one embodiment of the present disclosure, the apparatus further includes:
the second judgment module is used for judging whether the point cloud data in the current soil discharging position and the adjacent soil discharging position area are qualified or not based on preset detection rules; if the second calculation module is qualified, executing the second calculation module; and if not, executing a second acquisition module.
In one embodiment of the present disclosure, the preset detection rule includes: dividing each soil discharge position into a plurality of grids, wherein the soil discharge positions comprise the current soil discharge position and/or the adjacent soil discharge positions; counting the number of grids into which the point cloud falls; when the number of grids into which the point clouds fall exceeds a preset threshold value, the point cloud data in the soil discharging position area are qualified; and when the number of the grids into which the point cloud falls does not exceed a preset threshold value, the point cloud data in the soil discharging position area are unqualified.
In one embodiment of the present disclosure, the determining module 703 includes:
the difference value calculation submodule is used for calculating the difference value between the ground projection distance of the slope crest line and the slope land boundary and the plane projection distance of the slope land boundary and the current retaining wall line;
and the judging submodule is used for judging whether the current soil discharging position can be continuously used or not according to the height from the slope peak to the ground, the difference value between the ground projection distance of the slope peak line and the slope land boundary and the plane projection distance of the slope land boundary and the current retaining wall line.
According to the embodiment of the present disclosure, the specific implementation processes of the acquisition module 701, the calculation module 702, the determination module 703, the separation extraction sub-module, the calculation sub-module, the second acquisition module, the second calculation module, the adjustment module, the first determination module, the second determination module, the preset detection rule, the difference calculation sub-module, and the determination sub-module are the same as or similar to the operation processes of the above method, which can be referred to the description above with reference to fig. 1 to 5, and are not repeated here.
It can be understood that the acquisition module 701, the calculation module 702, the determination module 703, the separation extraction sub-module, the calculation sub-module, the second acquisition module, the second calculation module, the adjustment module, the first determination module, the second determination module, the difference calculation sub-module, and the determination sub-module may be combined and implemented in one module, or any one of the modules may be split into multiple modules. Alternatively, at least part of the functionality of one or more of these modules may be combined with at least part of the functionality of the other modules and implemented in one module. According to the embodiment of the present invention, at least one of the acquisition module 701, the calculation module 702, the determination module 703, the separation extraction submodule, the calculation submodule, the second acquisition module, the second calculation module, the adjustment module, the first determination module, the second determination module, the difference calculation submodule, and the determination submodule may be at least partially implemented as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented in hardware or firmware in any other reasonable manner of integrating or packaging a circuit, or implemented in a suitable combination of three implementation manners of software, hardware, and firmware. Alternatively, at least one of the acquisition module 701, the calculation module 702, the determination module 703, the separation extraction sub-module, the calculation sub-module, the second acquisition module, the second calculation module, the adjustment module, the first determination module, the second determination module, the difference calculation sub-module, and the determination sub-module may be at least partially implemented as a computer program module, and when the program is executed by a computer, the functions of the corresponding modules may be executed.
Fig. 8 schematically shows a hardware configuration diagram of an electronic device.
As shown in fig. 8, electronic device 800 includes a processor 810 and a computer-readable storage medium 820. The electronic device 800 may perform the methods described above with reference to fig. 2-7.
In particular, processor 810 may include, for example, a general purpose microprocessor, an instruction set processor and/or related chip set and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), and/or the like. The processor 810 may also include on-board memory for caching purposes. Processor 810 may be a single processing unit or a plurality of processing units for performing the different actions of the method flows described with reference to fig. 2-6 in accordance with embodiments of the present disclosure.
Computer-readable storage medium 820 may be, for example, any medium that can contain, store, communicate, propagate, or transport the instructions. For example, a readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium. Specific examples of the readable storage medium include: magnetic storage devices, such as magnetic tape or Hard Disk Drives (HDDs); optical storage devices, such as compact disks (CD-ROMs); a memory, such as a Random Access Memory (RAM) or a flash memory; and/or wired/wireless communication links.
The computer-readable storage medium 820 may include a computer program 821, which computer program 821 may include code/computer-executable instructions that, when executed by the processor 810, cause the processor 810 to perform a method flow, such as described above in connection with fig. 2-6, and any variations thereof.
The computer program 821 may be configured with, for example, computer program code comprising computer program modules. For example, in an example embodiment, code in computer program 821 may include one or more program modules, including for example 821A, modules 821B, … …. It should be noted that the division and number of modules are not fixed, and those skilled in the art may use suitable program modules or program module combinations according to actual situations, which when executed by the processor 810, enable the processor 810 to execute the method flows described above in connection with fig. 2-6 and any variations thereof, for example.
According to an embodiment of the disclosure, processor 810 may perform the method flows described above in connection with fig. 2-6 and any variations thereof.
According to an embodiment of the present invention, at least one of the acquisition module 601, the calculation module 602, the determination module 603, the separation extraction sub-module, the calculation sub-module, the second acquisition module, the second calculation module, the adjustment module, the first judgment module, the second judgment module, the difference calculation sub-module, and the judgment sub-module may be implemented as a computer program module described with reference to fig. 8, which when executed by the processor 810, may implement the corresponding operations described above.
Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not expressly recited in the present disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.
While the disclosure has been shown and described with reference to certain exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims and their equivalents. Accordingly, the scope of the present disclosure should not be limited to the above-described embodiments, but should be defined not only by the appended claims, but also by equivalents thereof.
Claims (10)
1. A method for detecting the state of a soil discharge position is characterized by comprising the following steps:
collecting point cloud data in a current dumping position area;
calculating the use state parameters of the current soil discharging position according to the point cloud data in the current soil discharging position area;
and judging whether the current soil discharging position can be continuously used or not according to the using state parameters of the current soil discharging position.
2. The method for detecting the state of the soil discharge position according to claim 1, wherein the calculating the use state parameter of the current soil discharge position according to the point cloud data in the current soil discharge position region comprises:
carrying out ground point cloud and slope point cloud separation on the point cloud data in the current dump site area, and extracting a current retaining wall line, a slope peak line and a slope boundary line;
and calculating the height from the slope peak to the ground, the ground projection distance between the slope peak line and the boundary of the slope land, and the plane projection distance between the boundary of the slope land and the current retaining wall line.
3. The method of claim 1, further comprising:
collecting point cloud data in an adjacent soil discharging position area adjacent to the current soil discharging position;
calculating the invaded state parameters of the adjacent soil discharge positions according to the current soil discharge position and the point cloud data in the adjacent soil discharge position area;
and adjusting the adjacent soil discharge positions according to the invaded state parameters of the adjacent soil discharge positions.
4. The method for detecting the state of the soil discharge position according to claim 1, wherein before calculating the use state parameter of the current soil discharge position according to the point cloud data in the current soil discharge position region, the method comprises:
judging whether the point cloud data in the current dumping position area is qualified or not based on a preset detection algorithm;
if the current position is qualified, the step of calculating the use state parameters of the current position according to the point cloud data in the current position area is executed;
and if not, executing the step of collecting the point cloud data in the current dumping position area again.
5. The method for detecting the state of the soil discharge position according to claim 3, wherein before calculating the invaded state parameter of the adjacent soil discharge position according to the point cloud data in the current soil discharge position and the adjacent soil discharge position region, the method comprises:
judging whether the point cloud data in the current soil discharging position and the adjacent soil discharging position area are qualified or not based on preset detection rules;
if the current position of the earth discharge is qualified, the step of calculating the invaded state parameters of the adjacent earth discharge positions according to the point cloud data in the current earth discharge position and the adjacent earth discharge position area is executed;
and if the current discharging position is not qualified, the steps of collecting the point cloud data in the current discharging position area and collecting the point cloud data in the adjacent discharging position area adjacent to the current discharging position are executed again.
6. The method according to claim 4 or 5, wherein the preset detection rule comprises:
dividing each soil discharge position into a plurality of grids, wherein the soil discharge positions comprise the current soil discharge position and the adjacent soil discharge positions;
counting the number of grids into which the point cloud falls;
when the number of grids into which the point clouds fall exceeds a preset threshold value, the point cloud data in the soil discharging position area are qualified;
and when the number of the grids into which the point cloud falls does not exceed a preset threshold value, the point cloud data in the soil discharging position area are unqualified.
7. The method for detecting the state of the soil discharging position according to claim 2, wherein the step of judging whether the current soil discharging position can be used continuously according to the using state parameter of the current soil discharging position comprises the following steps:
calculating the difference between the ground projection distance of the slope crest line and the boundary of the slope and the plane projection distance of the boundary of the slope and the current retaining wall line;
and judging whether the current soil discharging position can be continuously used or not according to the height from the slope peak to the ground, the difference value between the ground projection distance of the slope peak line and the slope land boundary line and the plane projection distance of the slope land boundary line and the current retaining wall line.
8. A device for detecting the state of a soil discharge position comprises:
the acquisition module is used for acquiring point cloud data in the current soil discharging position area;
the calculation module is used for calculating the use state parameters of the current soil discharging position according to the point cloud data in the current soil discharging position area;
and the judging module is used for judging whether the current soil discharging position can be continuously used or not according to the using state parameter of the current soil discharging position.
9. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of detecting a state of a gutter position according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of detecting a state of a soil discharge position of any one of claims 1 to 7.
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