CN113129262B - Automatic detection and supplement method and device for soil discharge level, storage medium and electronic equipment - Google Patents
Automatic detection and supplement method and device for soil discharge level, storage medium and electronic equipment Download PDFInfo
- Publication number
- CN113129262B CN113129262B CN202110267280.2A CN202110267280A CN113129262B CN 113129262 B CN113129262 B CN 113129262B CN 202110267280 A CN202110267280 A CN 202110267280A CN 113129262 B CN113129262 B CN 113129262B
- Authority
- CN
- China
- Prior art keywords
- point cloud
- soil discharge
- line
- soil
- cloud data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000002689 soil Substances 0.000 title claims abstract description 160
- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000001514 detection method Methods 0.000 title claims abstract description 39
- 239000013589 supplement Substances 0.000 title abstract description 10
- 238000007599 discharging Methods 0.000 claims abstract description 47
- 230000001502 supplementing effect Effects 0.000 claims abstract description 8
- 238000005065 mining Methods 0.000 claims abstract description 7
- 238000001914 filtration Methods 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000004422 calculation algorithm Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 6
- 238000005070 sampling Methods 0.000 claims description 5
- 238000000605 extraction Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 20
- 230000008569 process Effects 0.000 description 18
- 239000004575 stone Substances 0.000 description 11
- 238000007726 management method Methods 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000000295 complement effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 3
- 230000011218 segmentation Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000009499 grossing Methods 0.000 description 2
- 238000010606 normalization Methods 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 206010000060 Abdominal distension Diseases 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 208000024330 bloating Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/12—Edge-based segmentation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30132—Masonry; Concrete
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Data Mining & Analysis (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geometry (AREA)
- Quality & Reliability (AREA)
- Artificial Intelligence (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Bioinformatics & Computational Biology (AREA)
- Evolutionary Biology (AREA)
- Evolutionary Computation (AREA)
- General Engineering & Computer Science (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention provides an automatic detection and supplement method and device for a soil discharge position, a storage medium and electronic equipment, and relates to the technical field of mining. The invention obtains the full-discharging marshalling of the soil discharging position; determining a point cloud acquisition target area based on the grouping, and acquiring point cloud data of the target area; dividing and classifying the point cloud data; extracting a sloping field boundary line based on the classified point cloud data; and calculating the coordinates and the directions of the soil discharge positions which need to be supplemented based on the slope dividing line and the current soil discharge line. The invention can realize detection of the area with incomplete soil discharge and planning of the soil discharge position to continue discharging the soil and supplementing materials before the forklift finishes the retaining wall, avoids inconsistent pushing of the soil discharge line and possible ground collapse risks caused by lack of materials, and effectively improves the standardization and safety of automatic driving soil discharge operation.
Description
Technical Field
The invention relates to the technical field of mining, in particular to an automatic earth discharge position detection supplementing method and device applied to automatic driving of a surface mine, a storage medium and electronic equipment.
Background
The traditional surface mine has the defects of severe working environment and high risk coefficient, and is one of the best choices of the automatic driving technology landing scene due to the characteristics of the environment which is relatively closed and open. The earth and stone work is an important link in mine work, and the general flow of the earth and stone work is excavation, transportation and dumping, namely, the earth and stone of a loading area is stripped, transported to a dumping site through a mine truck and properly dumped.
The safety and efficiency of the outdoor operation are related on the basis of the design of the discharging position of the discharging line of the discharging field and the detection of the change of the discharging position state, and the method is an important part of the whole outdoor mine operation. As disclosed in patent publication No. CN110991771a, a method for estimating the soil discharge capacity is described, the main content of which is to design a series of parameters for the soil discharge state and judge logic based on whether the parameters are saturated for the soil discharge capacity, on the basis of which, patent CN112053347a optimizes the calculation process and judge logic of the soil discharge parameters and increases the intrusion judgment for adjacent soil discharge positions, and on the basis of the intrusion parameters, dynamically adjusts the soil discharge line in real time in the transverse or longitudinal direction, patent CN111829507a proposes a method for automatically updating the soil discharge field retaining wall, in the case of completing the soil discharge operation and exhausting the soil discharge resources in the area, firstly schedules the forklift to trim the retaining wall, then schedules the vehicle to scan the target area, automatically updates the retaining wall based on the LiDAR (laser radar) point cloud obtained by scanning, and generates new soil discharge resources.
The existing method improves the capacity estimation of the soil discharge position and the effective utilization efficiency of the soil discharge position resources, but the existing method can not ensure that the earth and stone materials are filled up along the soil discharge line. If the earth and stone materials are not filled along the dumping line, the dumping line cannot be uniformly and integrally pushed outwards when the forklift is in trimming, and the ground collapse of the material lacking area can be caused during the subsequent dumping operation, so that the safety and the efficiency of the operation are affected.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides an automatic detection and supplement method for the soil discharge position, a device, a storage medium and electronic equipment, and solves the technical problem that the existing method can not ensure that the earth and stone materials are filled along the soil discharge line.
(II) technical scheme
In order to achieve the above purpose, the invention is realized by the following technical scheme:
in a first aspect, the present invention provides an automatic detection and replenishment method for soil discharge level, comprising:
acquiring a grouping with soil discharging positions full;
determining a point cloud acquisition target area based on the grouping, and acquiring point cloud data of the target area;
dividing and classifying the point cloud data;
extracting a sloping field boundary line based on the classified point cloud data;
and calculating the coordinates and the directions of the soil discharge positions which need to be supplemented based on the slope dividing line and the current soil discharge line.
Preferably, the calculating the coordinates and the orientation of the soil discharging position to be supplemented based on the dividing line of the sloping field and the current soil discharging line includes:
calculating the distance between the nearest point of the outermost side of the incomplete soil discharge area and the current soil discharge line based on the slope boundary and the current soil discharge line, comparing the distance with a preset maximum distance threshold value, and when the distance is smaller than the maximum distance; calculating the maximum width of the area, and when the maximum width is larger than the width of the truck-mounted vehicle, the area is the soil discharge position to be supplemented; calculating a fitting straight line of the current discharging line closest to the trough point and a normal vector in a soil discharge field in the soil discharge position needing to be supplemented, moving the fitting straight line along the normal direction, calculating two intersection points of the fitting straight line and a sloping field boundary, calculating a midpoint when the distance between the two points is not smaller than the width of a vehicle body, and moving the midpoint to the center point of a rear shaft along the normal direction to obtain the supplemented soil discharge position and the orientation.
Preferably, before performing the division classification on the point cloud data, the method further includes:
and filtering the point cloud data.
Preferably, the classifying the point cloud data includes:
and (3) dividing the point cloud data by adopting a random consistency sampling algorithm and separating out a ground point cloud and a slope point cloud.
In a second aspect, the present invention provides an automatic detection and replenishment device for soil discharge level, comprising:
the grouping detection module is used for acquiring a grouping with full soil discharge positions;
the point cloud acquisition module is used for determining a point cloud acquisition target area based on the grouping and acquiring point cloud data of the target area;
the point cloud classification module is used for carrying out division classification on the point cloud data;
the boundary line extraction module is used for extracting a sloping field boundary line based on the classified point cloud data;
and the calculation module is used for calculating the coordinates and the directions of the soil discharging positions which need to be supplemented based on the slope dividing line and the current soil discharging line.
Preferably, the calculating the coordinates and the orientation of the soil discharging position to be supplemented based on the dividing line of the sloping field and the current soil discharging line includes:
calculating the distance between the nearest point of the outermost side of the incomplete soil discharge area and the current soil discharge line based on the slope boundary and the current soil discharge line, comparing the distance with a preset maximum distance threshold value, and when the distance is smaller than the maximum distance; calculating the maximum width of the area, when the maximum width is larger than the width of the truck-car body, the area is the soil discharge position to be supplemented, calculating a fitting straight line of the current soil discharge line closest to the trough point and a normal vector in the soil discharge field in the soil discharge position to be supplemented, moving the fitting straight line along the normal direction, calculating two intersection points with a sloping field boundary, and when the distance between the two points is not smaller than the width of the truck body, calculating the midpoint, and moving the midpoint to the center point of the rear axle along the normal direction to obtain the soil discharge position and the direction to be supplemented.
Preferably, before the point cloud classifying module performs the segmentation classification on the point cloud data, the point cloud classifying module is further configured to:
and filtering the point cloud data.
Preferably, the classifying the point cloud data includes:
and (3) dividing the point cloud data by adopting a random consistency sampling algorithm and separating out a ground point cloud and a slope point cloud.
In a third aspect, the present invention provides a computer-readable storage medium storing a computer program for automatic earth discharge level detection replenishment, wherein the computer program causes a computer to execute the above-described earth discharge level automatic detection replenishment method.
In a fourth aspect, the present invention provides an electronic device comprising:
one or more processors;
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the above-described automatic soil discharge level detection replenishment method.
(III) beneficial effects
The invention provides an automatic detection and supplement method and device for a soil discharge position, a storage medium and electronic equipment. Compared with the prior art, the method has the following beneficial effects:
the invention obtains the full-discharging marshalling of the soil discharging position; determining a point cloud acquisition target area based on the grouping, and acquiring point cloud data of the target area; dividing and classifying the point cloud data; extracting a sloping field boundary line based on the classified point cloud data; and calculating the coordinates and the directions of the soil discharge positions which need to be supplemented based on the slope dividing line and the current soil discharge line. The invention can realize that the non-dumping area is detected and the dumping position is planned to continue dumping and replenishing materials before the forklift finishes the retaining wall, avoids inconsistent dumping line propulsion and possible ground collapse risks caused by material deficiency, and effectively improves the standardization and safety of automatic driving dumping operation; the automatic driving and dumping operation flow of the surface mine is improved, the automatic driving and dumping operation flow is suitable for the automatic driving scene of the surface mine, and the utilization rate of the dumping site soil level resources is effectively improved under the automatic planning and dumping operation conditions; meanwhile, a processing closed loop for generating, utilizing and supplementing the soil discharge position resources of the soil discharge field is formed, and the soil discharge position resources are more flexibly used.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an automatic detection and replenishment method for soil discharge level in embodiment 1;
FIG. 2 is a schematic diagram showing the boundary of the sloping field and the supplementary result of the soil discharge level detection in example 1;
fig. 3 is a schematic view showing the calculation of the coordinates and orientation of the additional soil discharge position in example 1.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
According to the automatic detection and replenishment method and device for the soil discharge positions, storage media and electronic equipment, the technical problem that the existing method cannot guarantee that earth and stone materials are filled along the soil discharge lines is solved, the fact that the soil discharge areas which are not completely discharged are detected before a forklift finishes a retaining wall and the soil discharge positions are planned to continue to discharge and replenish materials is achieved, the defect that the soil discharge lines are inconsistent in pushing and possible ground collapse risks caused by the lack of the materials are avoided, and normalization and safety of automatic driving soil discharge operation are effectively improved.
The technical scheme in the embodiment of the application aims to solve the technical problems, and the overall thought is as follows:
the safety and efficiency of the outdoor operation are related on the basis of the design of the discharging position of the discharging line of the discharging field and the detection of the change of the discharging position state, and the method is an important part of the whole outdoor mine operation. In the process of strip mine operation, under the condition that the soil discharging operation is completed and the soil discharging position resources in the area are exhausted, a forklift is firstly scheduled to trim the retaining wall, then a vehicle is scheduled to scan a target area, the retaining wall is automatically updated based on the LiDAR point cloud obtained by scanning, and new soil discharging position resources are generated. However, the existing method cannot ensure the completeness of unloading of the earth and stone in the region of the dumping line, namely cannot ensure that the earth and stone materials are filled up along the dumping line, so that the operation of a forklift for trimming a retaining wall is not standard, the dumping line cannot be uniformly and integrally pushed out, the ground of the region where the materials are lack is possibly collapsed during the subsequent dumping operation, and the safety and the efficiency of the operation are affected. Therefore, the lack of soil and stone materials is detected before the retaining wall is trimmed, and the corresponding soil discharging positions are planned to discharge soil and supplement materials. According to the automatic detection and replenishment method, the automatic detection and replenishment device, the storage medium and the electronic equipment for the soil discharge positions are provided, the use condition of soil discharge position resources in a group is judged, if the soil discharge position resources are used up, the soil discharge position coordinates and the direction which need to be replenished are calculated, and the soil discharge position coordinates and the direction which need to be replenished are provided for a management platform to schedule a mine card to continue discharging soil, so that the situation that the soil discharge region which is not completely discharged is detected and the soil discharge position is planned to continue discharging soil to replenish materials before a forklift finishes a retaining wall is realized.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
Example 1:
as shown in fig. 1, the embodiment of the invention discloses an automatic earth discharge position detection supplementing method applied to automatic driving of a surface mine, which is executed by a computer and comprises the following steps of:
s1, acquiring a grouping with full soil discharge positions;
s2, determining a point cloud acquisition target area based on the grouping, and acquiring point cloud data of the target area;
s3, carrying out segmentation classification on the point cloud data;
s4, extracting a sloping field boundary line based on the classified point cloud data;
s5, calculating the coordinates and the directions of the soil discharging positions to be supplemented based on the slope dividing line and the current soil discharging line.
The embodiment of the invention provides an automatic detection and supplement method for the soil discharge position applied to automatic driving of a surface mine, which detects the region with incomplete soil discharge and plans the soil discharge position to continue soil discharge and supplement materials before a forklift finishes a retaining wall, avoids inconsistent soil discharge line propulsion and possible ground collapse risks caused by material deficiency, and effectively improves the normalization and safety of automatic driving soil discharge operation.
The implementation process of the embodiment of the present invention is described in detail below:
in step S1, a group with full soil discharge is obtained, and the specific implementation process is as follows:
the management platform (in the embodiment of the invention, the management platform is a terminal for automatically detecting the soil discharge level, such as a computer) is used for scheduling the mining dump truck into an available soil discharge level for unloading the soil and stones in real time, and detecting the resource of the soil discharge level of the group at the same time, and executing the next step when detecting that the soil discharge level of a certain group is full.
The process of detecting whether the soil discharge position of a certain group is full is as follows:
collecting point cloud data in a current soil discharge position area in a group;
calculating the using state parameters of the current soil discharge position according to the point cloud data in the current soil discharge position area; and judging whether the current soil discharge level can be used continuously or not according to the use state parameters of the current soil discharge level.
And repeating the process, judging all the earth discharge positions of the group, and when detecting that all the earth discharge positions in the group cannot be continuously used, namely, the earth discharge positions of the group are full. The above process is related to the prior art, and is specifically referred to in the publication CN112053347a, and will not be described herein.
In step S2, a point cloud acquisition target area is determined based on the grouping, and point cloud data of the target area is acquired, and the specific implementation process is as follows:
the management platform groups positions to determine the range of point clouds to be acquired, dispatches near ore cards which finish or are about to finish unloading or a forklift with a graph acquisition function to scan a target area, limits the speed (not more than 6 km/h) of the ore cards in the process of acquiring the point clouds and requires the track to be 8-10 meters away from a soil discharge slope line in order to ensure the point cloud density of the updated area, and obtains complete LiDAR point cloud data in the area and uploads the LiDAR point cloud data to the management platform end.
In step S3, the point cloud data is classified by segmentation, and the specific implementation process is as follows:
the management platform cuts point cloud data based on the target area range, performs voxel filtering on the cut point cloud data, avoids data bloating, and reduces data volume. And filtering out the vehicle body shielding point cloud and the point cloud data outside the effective range based on the vehicle track, and finally filtering out the isolated point set through statistical filtering and radius filtering algorithms. Calculating the geometrical parameters of the point cloud, and dividing the filtered point cloud data by using a random consistency sampling algorithm to separate out the ground point cloud and the slope point cloud.
In step S4, a sloping field boundary is extracted based on the classified point cloud data. The specific implementation process is as follows:
and (3) extracting an outer contour from the ground point cloud obtained in the step (S3) by using an Alpha-Shapes algorithm, filtering boundary points which are not physically blocked by combining the slope point cloud obtained in the step (S3), reserving a slope boundary point set along the trend of the soil discharge line, and performing a series of processes such as filtering, smoothing, encrypting and the like to obtain an accurate slope boundary after the soil discharge, as shown in fig. 2. The method comprises the following steps:
firstly, based on the ground point cloud obtained in the step S3, outlier noise points and Gao Chengyi constant points are filtered, an alpha radius (the 0.1 m resolution point cloud is generally 0.3m based on the point cloud density setting) is used for sliding along the ground point cloud boundary to obtain a complete and closed ground outer contour point set, then the ground boundary near the slope point is reserved by combining the non-ground points obtained in the step S3, discrete noise points are filtered, and finally necessary smoothing and encryption processing is carried out to obtain a new slope boundary along the current soil discharge line trend.
In step S5, the coordinates and orientations of the soil discharging positions to be supplemented are calculated based on the dividing line of the sloping field and the current soil discharging line, and the specific implementation process is as follows:
it should be noted that, in the process of discharging the mine truck, the present discharging line is known in the embodiment of the present invention because the forklift is to trim the retaining wall after the discharging line is used, then calculate a new discharging line, and finally plan the new discharging line based on the new discharging line.
Calculating the distance between the nearest point (namely the lowest point of the trough in the drawing 2 and the trough in the drawing) of the incomplete soil discharge area (trough) and the current soil discharge line based on the slope boundary and the current soil discharge line, comparing the distance with a preset maximum distance threshold, and when the distance is smaller than the maximum distance; calculating the maximum width of the area, when the maximum width is larger than the width of the mining truck, the area is the soil discharge position to be supplemented, the dockable positions (and the middle points thereof) of the rear wheels on the two sides are calculated in the soil discharge position to be supplemented, the normal vector of the soil discharge position which is towards the middle point is obtained and is towards the soil discharge field, and the soil discharge position coordinates are the central point (the central point translates along the direction of 1.4 m) of the rear shaft of the mining truck in the soil discharge field. The coordinates and orientations of the discharge level (dots and arrows in fig. 2) are generated for unloading of the mine cards and provided to the management platform for scheduling the mine cards to continue discharging.
As shown in fig. 3, the specific calculation process of the soil discharge position coordinates and orientation for unloading the mine truck is as follows:
firstly, calculating trough points (closest points to a current dumping line) of a slope boundary obtained in the step S4, listing all trough points as potential complementary dumping positions, setting a maximum distance threshold dis_max (3.5 m in the embodiment of the invention) of the complementary dumping positions from the current dumping line, calculating a point set of each trough point which is left and right and is within the threshold, calculating the maximum width with_max, reserving the point set (trough) with the maximum width larger than (accommodating) the width vehicle_width of the mine truck (3.2 m in the embodiment of the invention) as the dumping positions needing to be supplemented, calculating a fitting straight line of the closest current dumping line to the trough points and a normal vector (orientation) in the dumping field after the dumping positions needing to be supplemented are obtained, moving the fitting straight line along the normal direction, calculating two intersection points with the slope boundary, and when the distance between the two points is not smaller than the width of the vehicle body, calculating the middle point along the normal direction, and moving the center point set to the center of a rear axis (the distance between the middle point and the rear axis, wherein the moving distance is the distance between the middle point and the rear axis is the distance of the parking line, and the distance is different parameters of the mine truck, namely the complementary vehicle and the dumping positions are obtained.
Example 2:
the embodiment of the invention provides an automatic detection and supplement device for a soil discharge position, which comprises the following components:
the grouping detection module is used for acquiring a grouping with full soil discharge positions;
the point cloud acquisition module is used for determining a point cloud acquisition target area based on the grouping and acquiring point cloud data of the target area;
the point cloud classification module is used for carrying out division classification on the point cloud data;
the boundary line extraction module is used for extracting a sloping field boundary line based on the classified point cloud data;
and the calculation module is used for calculating the coordinates and the directions of the soil discharging positions which need to be supplemented based on the slope dividing line and the current soil discharging line.
It can be understood that the automatic detection and replenishment device for the soil discharge position provided by the embodiment of the invention corresponds to the automatic detection and replenishment method for the soil discharge position, and the explanation, the examples, the beneficial effects and the like of the relevant content can refer to the corresponding content in the automatic detection and replenishment method for the soil discharge position, and are not repeated here.
Example 3:
a computer-readable storage medium storing a computer program for automatic earth discharge level detection replenishment, wherein the computer program causes a computer to execute the earth discharge level automatic detection replenishment method as described above.
Example 4:
an electronic device, comprising:
one or more processors;
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising steps for performing the above-described waste level automatic detection replenishment method.
In summary, compared with the prior art, the method has the following beneficial effects:
1. the embodiment of the invention can realize detection of the area with incomplete soil discharge and planning of the soil discharge position to continue soil discharge and supplement materials before the forklift finishes the retaining wall, avoid inconsistent soil discharge line propulsion and possible ground collapse risks caused by material deficiency, and effectively improve the standardization and safety of automatic driving soil discharge operation.
2. The embodiment of the invention improves the operation flow of the automatic driving dumping site of the surface mine, is suitable for the automatic driving scene of the surface mine, and effectively improves the utilization rate of the dumping site dumping resources under the condition of automatically planning dumping sites and automatically driving dumping operation.
3. The embodiment of the invention forms a processing closed loop for generating, utilizing and supplementing the soil discharge level resources of the soil discharge field, and the use of the soil discharge level resources is more flexible.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. An automatic detection and replenishment method for the soil discharge position is characterized by comprising the following steps:
acquiring a grouping with soil discharging positions full;
determining a point cloud acquisition target area based on the grouping, and acquiring point cloud data of the target area;
dividing and classifying the point cloud data;
extracting a sloping field boundary line based on the classified point cloud data;
calculating the coordinates and the directions of the soil discharging positions to be supplemented based on the slope dividing line and the current soil discharging line;
wherein the classifying the point cloud data includes: dividing the point cloud data by adopting a random consistency sampling algorithm and separating out a ground point cloud and a slope point cloud;
the calculation of the coordinates and the orientation of the soil discharge position to be supplemented based on the sloping field boundary and the current soil discharge line comprises the following steps:
calculating the distance between the nearest point of the outermost side of the incomplete soil discharge area and the current soil discharge line based on the slope boundary and the current soil discharge line, comparing the distance with a preset maximum distance threshold value, and when the distance is smaller than the maximum distance; calculating the maximum width of the area, and when the maximum width is larger than the width of the truck-mounted vehicle, the area is the soil discharge position to be supplemented; calculating a fitting straight line of the current dumping line closest to the trough point and a normal vector in a dumping field facing the dumping field in the dumping position needing to be supplemented, moving the fitting straight line along the normal direction, calculating two intersection points of the slope boundary, calculating a midpoint when the distance between the two points is not smaller than the width of the vehicle body, and moving the midpoint to the center point of the rear axle of the truck and the mining vehicle along the normal direction to obtain the supplementing dumping position and the facing direction; the trough point refers to the closest point to the current discharging line.
2. The automatic earth discharge level detection supplementing method according to claim 1, wherein before performing division classification of the point cloud data, the method further comprises:
and filtering the point cloud data.
3. An automatic detection and replenishment device for soil discharge positions, comprising:
the grouping detection module is used for acquiring a grouping with full soil discharge positions;
the point cloud acquisition module is used for determining a point cloud acquisition target area based on the grouping and acquiring point cloud data of the target area;
the point cloud classification module is used for carrying out division classification on the point cloud data;
the boundary line extraction module is used for extracting a sloping field boundary line based on the classified point cloud data;
the calculation module is used for calculating the coordinates and the directions of the soil discharging positions which need to be supplemented based on the slope dividing line and the current soil discharging line;
wherein the classifying the point cloud data includes: dividing the point cloud data by adopting a random consistency sampling algorithm and separating out a ground point cloud and a slope point cloud;
the calculation of the coordinates and the orientation of the soil discharge position to be supplemented based on the sloping field boundary and the current soil discharge line comprises the following steps:
calculating the distance between the nearest point of the outermost side of the incomplete soil discharge area and the current soil discharge line based on the slope boundary and the current soil discharge line, comparing the distance with a preset maximum distance threshold value, and when the distance is smaller than the maximum distance; calculating the maximum width of the area, and when the maximum width is larger than the width of the truck-mounted vehicle, the area is the soil discharge position to be supplemented; calculating a fitting straight line of the current dumping line closest to the trough point and a normal vector in a dumping field facing the dumping field in the dumping position needing to be supplemented, moving the fitting straight line along the normal direction, calculating two intersection points of the slope boundary, calculating a midpoint when the distance between the two points is not smaller than the width of the vehicle body, and moving the midpoint to the center point of the rear axle of the truck and the mining vehicle along the normal direction to obtain the supplementing dumping position and the facing direction; the trough point refers to the closest point to the current discharging line.
4. The automatic soil discharge level detection and replenishment device of claim 3, wherein the point cloud classification module, prior to the division classification of the point cloud data, is further configured to:
and filtering the point cloud data.
5. A computer-readable storage medium, characterized in that it stores a computer program for earth discharge level automatic detection replenishment, wherein the computer program causes a computer to execute the earth discharge level automatic detection replenishment method according to any one of claims 1 to 2.
6. An electronic device, comprising:
one or more processors;
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the automatic soil discharge level detection replenishment method of any one of claims 1-2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110267280.2A CN113129262B (en) | 2021-03-12 | 2021-03-12 | Automatic detection and supplement method and device for soil discharge level, storage medium and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110267280.2A CN113129262B (en) | 2021-03-12 | 2021-03-12 | Automatic detection and supplement method and device for soil discharge level, storage medium and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113129262A CN113129262A (en) | 2021-07-16 |
| CN113129262B true CN113129262B (en) | 2024-03-29 |
Family
ID=76772915
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110267280.2A Active CN113129262B (en) | 2021-03-12 | 2021-03-12 | Automatic detection and supplement method and device for soil discharge level, storage medium and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113129262B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113609632B (en) * | 2021-10-08 | 2021-12-21 | 天津云圣智能科技有限责任公司 | Method and device for determining power line compensation point and server |
| CN115456383B (en) * | 2022-09-01 | 2023-08-01 | 北京路凯智行科技有限公司 | Surface mine unloading area management and control method and system |
| CN115271566B (en) * | 2022-09-29 | 2022-12-30 | 北京易控智驾科技有限公司 | Method and device for generating soil discharge positions, electronic equipment and storage medium |
| CN117233792B (en) * | 2023-11-08 | 2024-03-15 | 北京易控智驾科技有限公司 | Retaining wall detection method, retaining wall detection device and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015075826A (en) * | 2013-10-07 | 2015-04-20 | 日立建機株式会社 | Off-road dump truck |
| CN110991771A (en) * | 2019-12-25 | 2020-04-10 | 北京易控智驾科技有限公司 | Method and system for estimating dumping position capacity and storage medium |
| CN111829507A (en) * | 2020-07-20 | 2020-10-27 | 北京易控智驾科技有限公司 | Dump retaining wall map updating method applied to automatic driving of surface mine |
| CN112013831A (en) * | 2020-09-09 | 2020-12-01 | 北京易控智驾科技有限公司 | Map boundary automatic extraction method and device based on terrain analysis |
| CN112053347A (en) * | 2020-09-02 | 2020-12-08 | 北京易控智驾科技有限公司 | Method and device for detecting state of soil discharge position, electronic equipment and storage medium |
| CN112324440A (en) * | 2020-11-01 | 2021-02-05 | 中煤科工集团沈阳设计研究院有限公司 | Method for automatically identifying and acquiring process unloading area of strip mine single-bucket truck |
-
2021
- 2021-03-12 CN CN202110267280.2A patent/CN113129262B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015075826A (en) * | 2013-10-07 | 2015-04-20 | 日立建機株式会社 | Off-road dump truck |
| CN110991771A (en) * | 2019-12-25 | 2020-04-10 | 北京易控智驾科技有限公司 | Method and system for estimating dumping position capacity and storage medium |
| CN111829507A (en) * | 2020-07-20 | 2020-10-27 | 北京易控智驾科技有限公司 | Dump retaining wall map updating method applied to automatic driving of surface mine |
| CN112053347A (en) * | 2020-09-02 | 2020-12-08 | 北京易控智驾科技有限公司 | Method and device for detecting state of soil discharge position, electronic equipment and storage medium |
| CN112013831A (en) * | 2020-09-09 | 2020-12-01 | 北京易控智驾科技有限公司 | Map boundary automatic extraction method and device based on terrain analysis |
| CN112324440A (en) * | 2020-11-01 | 2021-02-05 | 中煤科工集团沈阳设计研究院有限公司 | Method for automatically identifying and acquiring process unloading area of strip mine single-bucket truck |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113129262A (en) | 2021-07-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113129262B (en) | Automatic detection and supplement method and device for soil discharge level, storage medium and electronic equipment | |
| CN109902857B (en) | Automatic planning method and system for loading point of transport vehicle | |
| CN111830965B (en) | System and method for maintaining a work surface at a work site | |
| US8903689B2 (en) | Autonomous loading | |
| CN113256588B (en) | Real-time updating method for refuse dump and refuse discharge edge line in unmanned strip mine | |
| CN113487479A (en) | Method and system for detecting and identifying high-precision map boundary in real time at vehicle end | |
| CN113252027B (en) | Underground unmanned vehicle local path planning method, device, equipment and storage medium | |
| CN114322993B (en) | Method and system for generating loading area map of unmanned transport system of surface mine | |
| CN112595334A (en) | Map updating method, device and system for unloading area of surface mine | |
| US20200325653A1 (en) | Earth-moving machine sensing and control system | |
| Medinac et al. | Haul road monitoring in open pit mines using unmanned aerial vehicles: A case study at Bald Mountain Mine Site | |
| CN113743793B (en) | Unloading scheduling method and system for trucks in strip mine dumping site | |
| CN113432610B (en) | Robot passing planning method and device, robot and storage medium | |
| WO2024066104A1 (en) | Dumping site generation method and apparatus, electronic device, and storage medium | |
| US9145661B1 (en) | Worksite control system for managing lost loads | |
| CN112053347A (en) | Method and device for detecting state of soil discharge position, electronic equipment and storage medium | |
| CN113077473B (en) | Three-dimensional laser point cloud pavement segmentation method, system, computer equipment and medium | |
| CN115142513B (en) | Control method and device for excavator, processor and storage medium | |
| Beck et al. | Forest road access decisions for woods chip trailers using Ant Colony Optimization and breakeven analysis | |
| CN110751315A (en) | Man-machine interactive line selection method, system and controller for strip mine road system | |
| CN110991771B (en) | Method, system and storage medium for estimating soil discharge capacity | |
| CN117962876B (en) | Vehicle parking control method and device and unmanned vehicle | |
| CN117233792B (en) | Retaining wall detection method, retaining wall detection device and storage medium | |
| US20240053164A1 (en) | Method, device and system for updating map of unloading area of open pit mine | |
| RU2819339C2 (en) | System and method for determining returnable material on surface during delivery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |