Mining planning method and device, electronic equipment, storage medium and program product

Abstract

The application discloses a kind of excavation planning method, device, electronic equipment, storage medium and program product, it is related to computer processing technical field, the method comprises: the working area of excavator is obtained;The working area is divided into area based on the bucket width of excavator, obtain more than one sub-region in covering working area;Determine more than one digging point based on the elevation information of each sub-region;Wherein, one sub-region includes one digging point;The digging order of each digging point is determined based on the positional relationship between loading car and excavator.The automatic excavation planning scheme is provided, which reduces the pressure of the staff in the excavation planning, so that the staff can maintain good energy in the overall excavation process, thereby improving the excavation efficiency.The closely packed sub-region and one digging point in one sub-region cooperate, which is conducive to achieving uniform excavation of the to-be-excavated area and uniform erosion of the material in the to-be-excavated area.

Description

Technical Field

[0001] This application relates to the field of excavation planning technology, specifically to excavation planning methods, apparatus, electronic devices, storage media, and program products. Background Technology

[0002] Currently, during the excavation process, workers typically use remote control technology to operate the excavators. This technology utilizes images and other information from the excavation site, combined with the worker's experience, to remotely control the excavator.

[0003] However, in the aforementioned technologies, the excavation process is controlled by the workers' own experience, which requires a lot of human effort. Fatigue caused by working for a long time can easily lead to low excavation efficiency. Summary of the Invention

[0004] In view of this, this application provides a mining planning method, apparatus, electronic device, storage medium, and program product to solve the problem of low mining efficiency.

[0005] In a first aspect, this application provides a mining planning method, the method comprising:

[0006] Obtain the operating area of ​​the excavator; The working area is divided into regions based on the bucket width of the excavator, resulting in more than one sub-region covering the working area; Based on the elevation information of each of the sub-regions, more than one excavation point is determined; wherein, each sub-region includes one excavation point; The excavation sequence of each excavation point is determined based on the positional relationship between the loading vehicle and the excavator.

[0007] Secondly, this application provides an excavation planning device, the device comprising: The area acquisition module is used to acquire the operating area of ​​the excavator; The area division module is used to divide the working area based on the bucket width of the excavator to obtain more than one sub-area covering the working area; The excavation determination module is used to determine more than one excavation point based on the elevation information of each of the sub-regions; wherein, each sub-region includes one excavation point; The sequence determination module is used to determine the excavation sequence of each excavation point based on the positional relationship between the loading vehicle and the excavator.

[0008] Thirdly, this application provides an electronic device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the mining planning method of the first aspect or any corresponding embodiment described above.

[0009] For example, electronic devices can also be referred to as computer devices.

[0010] Fourthly, this application provides a computer-readable storage medium storing computer instructions for causing a computer to execute the mining planning method of the first aspect or any corresponding embodiment described above.

[0011] Fifthly, this application provides a computer program product, including computer instructions for causing a computer to execute the mining planning method described in the first aspect or any corresponding embodiment thereof.

[0012] The excavation planning method provided in this application further divides the excavator's working area by the bucket width, resulting in multiple sub-regions covering the working area. Each sub-region is used as the smallest excavation unit, and excavation points are determined within each sub-region. Based on the positional relationship between the loading vehicle and the excavator, the excavation sequence of each excavation point is determined. Through excavation point planning and excavation sequence planning, an automatic excavation planning scheme is provided, reducing the pressure on workers during excavation planning and allowing them to maintain better concentration throughout the overall excavation process, thereby improving excavation efficiency. Furthermore, the close-knit sub-regions and the combination of one excavation point per sub-region facilitate uniform excavation of the area to be excavated and uniform erosion of the material within it. On the one hand, this helps reduce material residue and improves the overall excavation efficiency of the area to be excavated; on the other hand, it helps maintain a uniform descent of material height within the area to be excavated, reducing problems such as material tilting and collapse caused by large height differences, thus improving the stability and safety of the excavation process. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of this application, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram illustrating an application scenario according to an embodiment of this application; Figure 2This is a schematic diagram of the first type of mining planning method according to an embodiment of this application; Figure 3 An exemplary diagram illustrating the first method of obtaining sub-regions is shown; Figure 4 An exemplary diagram illustrates a second method for obtaining sub-regions; Figure 5 An exemplary diagram illustrating how the work area is obtained is shown; Figure 6 An exemplary flowchart of the elevation information acquisition method in the mining planning method is shown; Figure 7 This is a schematic diagram of a second process of the mining planning method according to an embodiment of this application; Figure 8 This is a structural block diagram of an excavation planning device according to an embodiment of this application; Figure 9 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0016] It should be noted that the information (including but not limited to user input information, such as information entered by the user into input boxes), data (including but not limited to data used for analysis, stored data, and displayed data, such as context code, all code of the current project, the service pressure corresponding to operations performed on all code of the current project, and the code development status of the current project), and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with relevant laws, regulations, and standards. For example, the context code, operations performed on all code of the current project, the corresponding service pressure, and the code development status involved in this application were all obtained with full authorization.

[0017] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0018] As one optional application scenario in the embodiments of this application, such as Figure 1 As shown, the system may include an excavator 10 and a computer device 20.

[0019] The excavator 10 is used to excavate materials. Optionally, the excavator 10 can be any excavator with automatic excavation function. Exemplarily, the excavator 10 includes components such as a bucket, boom, arm, slewing platform, and tracks.

[0020] The computer device 20 is used to plan the excavation of the excavator 10. Optionally, the computer device 20 may be an electronic device such as a vehicle terminal, mobile phone, tablet computer, wearable device, back-end server, server cluster, distributed system, cloud server, or PC (Personal Computer).

[0021] The excavator 10 is connected to the computer device 20 via a network. For example, a computer device 20 can connect to multiple excavators 10. The network can be a wired or wireless network, examples of which include, but are not limited to, the Internet, intranets, local area networks, wide area networks, mobile communication networks, and combinations thereof.

[0022] In this embodiment, the computer device 20 obtains the working area of ​​the excavator 10 based on the excavator 10 and its corresponding loading vehicle; further, it divides the working area into multiple sub-regions covering the working area based on the bucket width of the excavator; then, based on the elevation information of each sub-region, it determines a digging point in each sub-region; finally, based on the positional relationship between the loading vehicle and the excavator 10, it determines the digging sequence of each digging point. The loading vehicle can be any mobile device with material loading and transportation functions, such as a truck.

[0023] In this technology, workers remotely control excavators to excavate, using images and other information from the excavation site combined with their own experience. Throughout the process, to ensure accuracy and safety, workers need to invest significant effort in determining suitable excavation plans. Prolonged excavation can easily lead to fatigue and reduced efficiency.

[0024] According to an embodiment of this application, a mining planning method embodiment is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0025] This embodiment provides a data mining planning method that can be used in the aforementioned computer devices, such as vehicle terminals, mobile phones, tablets, wearable devices, backend servers, server clusters, distributed systems, cloud servers, or PCs (Personal Computers). Figure 2 This is a flowchart of the mining planning method according to an embodiment of this application, such as... Figure 2 As shown, the process includes the following steps: Step S201: Obtain the working area of ​​the excavator.

[0026] The work area refers to the excavation work area of ​​the excavator. In this embodiment, when planning the excavation, the computer device obtains the excavator's work area. Optionally, the computer device obtains the excavator's work area from the area to be excavated based on the excavator's working position in the area to be excavated.

[0027] Optionally, the work area can be a pre-determined area or a real-time determined area.

[0028] In one possible implementation, the work area is a pre-determined area. For example, a computer device pre-configures the work position for the excavator within the area to be excavated, then obtains and stores the work area based on the excavator's work position, and retrieves the work area from the stored information when it is determined to conduct excavation planning.

[0029] In another possible implementation, the work area is a region determined in real time. For example, when determining to conduct excavation planning, the computer device acquires the working position of the excavator in the area to be excavated, and then, based on the excavator's working position, acquires the work area.

[0030] Step S202: Divide the work area into regions based on the bucket width of the excavator to obtain more than one sub-region covering the work area.

[0031] In this embodiment, after obtaining the aforementioned work area, the computer device divides the work area into regions based on the excavator's bucket width, resulting in more than one sub-region covering the work area. Here, "covering" means that the work area contains no other regions besides the sub-region.

[0032] For example, a sub-region is a region with at least a partially circular arc boundary, such as a fan ring; or, a sub-region is a quadrilateral region.

[0033] Step S203: Based on the elevation information of each sub-region, determine more than one excavation point.

[0034] In this embodiment of the application, after obtaining the aforementioned sub-regions, the computer device determines more than one excavation point based on the elevation information of each sub-region. Each sub-region includes one excavation point.

[0035] For example, the computer device determines more than one excavation point in more than one sub-region based on the elevation information of each sub-region and the excavator's operational constraints, wherein each sub-region includes one excavation point. For example, the operational constraints include, but are not limited to, at least one of the following: the excavator's limit information, the excavator's single-bucket full-load requirement, etc.

[0036] Step S204: Determine the excavation sequence of each excavation point based on the positional relationship between the loading vehicle and the excavator.

[0037] In this embodiment of the application, after obtaining the above-mentioned excavation points, the computer device determines the excavation sequence of each excavation point based on the positional relationship between the loading vehicle and the excavator.

[0038] For example, the computer device determines the order in which the more than one excavation point is excavated based on the position of the loading vehicle relative to the excavator. Optionally, in this embodiment, after obtaining the excavation order, the computer device controls the excavator to excavate the excavation point based on the excavation order. Each excavation point corresponds to one excavation operation.

[0039] Optionally, in this embodiment of the application, the computer device determines the excavation sequence based on the positional relationship between the loading vehicle and the excavator, which is to excavate sequentially from the excavation point closer to the loading vehicle to the excavation point farther away from the loading vehicle.

[0040] In one possible implementation, the excavation point closest to the loading vehicle is used to limit the first excavation point. For example, if the loading vehicle is on the left side of the excavator, the computer determines that the excavation point closest to the loading vehicle is on the left side of the excavator, thus determining the excavation sequence as left to right; then, based on the arrangement of the excavation points, the excavator is controlled to excavate each excavation point from the point closest to the loading vehicle in a left-to-right order. Alternatively, for example, if the loading vehicle is on the right side of the excavator, the computer determines that the excavation point closest to the loading vehicle is on the right side of the excavator, thus determining the excavation sequence as right to left; then, based on the arrangement of the excavation points, the excavator is controlled to excavate each excavation point from the point closest to the loading vehicle in a right-to-left order.

[0041] In another possible implementation, the digging points closer to the loading vehicle are used to constrain each digging point. Exemplarily, the digging order of the digging points is positively correlated with the distance between the digging point and the loading vehicle. For example, the closer a digging point is to the loading vehicle, the earlier it is in the digging order; the farther away a digging point is from the loading vehicle, the later it is in the digging order. Exemplarily, a computer device determines the digging order of each digging point based on the distance between the digging point and the loading vehicle; then, based on this digging order, it controls the excavator to dig at each digging point.

[0042] For example, after each excavation operation is performed at each excavation point, the current excavation is determined to be complete. Then, if the loading vehicle reaches its maximum capacity, the process is repeated from step S201 to excavate the new work area based on a new loading vehicle; if the loading vehicle does not reach its maximum capacity, the process is repeated from step S203 to excavate the work area again based on the loading vehicle, until the loading vehicle reaches its maximum capacity.

[0043] The excavation planning method provided in this embodiment further divides the excavator's working area by the bucket width, resulting in multiple sub-regions covering the working area. Each sub-region is used as the smallest excavation unit, and excavation points are determined within each sub-region. Based on the positional relationship between the loading vehicle and the excavator, the excavation sequence of each excavation point is determined. Through excavation point planning and excavation sequence planning, an automatic excavation planning scheme is provided, reducing the pressure on workers during excavation planning and allowing them to maintain better concentration throughout the overall excavation process, thereby improving excavation efficiency. Furthermore, the close-knit sub-regions and the combination of one excavation point per sub-region facilitate uniform excavation of the area to be excavated and uniform erosion of the material within it. On the one hand, this helps reduce material residue and improves the overall excavation efficiency of the area to be excavated; on the other hand, it helps maintain a uniform descent of material height within the area to be excavated, reducing problems such as material tilting and collapse caused by large height differences, thus improving the stability and safety of the excavation process.

[0044] Furthermore, by determining the positional relationship between the loading truck and the excavator, the excavation sequence is determined to be from the excavation point closer to the loading truck to the excavation point farther away from the loading truck. The sequential excavation of the excavation points is based on the principle of closest proximity, with the loading truck as the reference. When the material height in a sub-region changes due to excavation, the excavation points in the adjacent sub-region continue to be excavated. This helps to reduce the change in material height difference and further improves the stability and safety of the excavation process. Moreover, after the excavation at the near end is completed, the position of the loading truck can be reasonably adjusted when conditions permit, so that the loading truck is closer to the excavator, which improves the excavation efficiency and reduces the excavator's excavation energy consumption.

[0045] In addition, by controlling the excavation sequence, the excavator can excavate at each excavation point, with one excavation point corresponding to one excavation operation. This helps to maintain a uniform descent of the material height in the area to be excavated, further improving the stability and safety of the excavation process.

[0046] In an exemplary embodiment, the working area is a region that has at least a partially arcuate boundary. For example, the working area is a fan-shaped region, which includes an inner arc, an outer arc, a first side, and a second side. Taking a fan-shaped region as an example, such as... Figure 3 As shown, the working area 30 includes an inner arc 31, an outer arc 32, a first side 33, and a second side 34.

[0047] Specifically, step S202 includes: Step S2021: Obtain the single digging stroke of the excavator.

[0048] A single digging stroke refers to the maximum horizontal distance the bucket travels during a single digging operation. The horizontal direction can be understood as the component of the bucket's movement on the horizontal plane from the moment the bucket contacts the ground of the area to be dug.

[0049] In this embodiment of the application, when dividing the work area, the computer device obtains the single digging stroke of the excavator. Optionally, the single digging stroke belongs to the excavator digging parameters set by the user, and the computer device obtains the single digging stroke from the preset digging parameters. For example, the user can be the aforementioned worker or the excavator manufacturing personnel.

[0050] Step S2022: Based on a single excavation stroke, the working area is divided into fan-rings along the side of the working area to obtain at least one sub-fan-ring.

[0051] In this embodiment of the application, after obtaining the aforementioned single excavation stroke, the computer device divides the work area into fan-shaped sections along the side edges (including the first and second side edges) based on the single excavation stroke, obtaining at least one sub-fan-shaped section. The side length of each sub-fan-shaped section is less than or equal to the single excavation stroke.

[0052] Optionally, for the first sub-fan ring, the computer device sets the inner arc of the working area as the bottom of the working area, and divides the working area into fan rings starting from the bottom of the side of the working area, with the side length of the sub-fan ring as the single digging stroke, to obtain the first sub-fan ring.

[0053] Optionally, for the j-th sub-sector ring, the computer device sets the inner arc of the undivided sector ring as the bottom. If the total side length of the undivided sector ring is greater than or equal to the side length of a single digging stroke, starting from the bottom of the side of the undivided sector ring, the undivided sector ring is divided into sector rings with the side length of a single digging stroke as the sub-sector ring length, thus obtaining the j-th sub-sector ring. Here, j is a positive integer greater than 1, and an undivided sector ring refers to the area within the working area that does not include the sub-sector ring.

[0054] Optionally, for the j-th sub-sector ring, if the total side length is less than the length of a single excavation stroke, starting from the bottom of the undivided sector ring's side, the undivided sector ring is divided into sector rings with the total side length as the side length of the sub-sector ring, thus obtaining the j-th sub-sector ring. In this case, the j-th sub-sector ring is the last sub-sector ring. For example, if the working area includes m sub-sector rings, then the j-th sub-sector ring is the m-th sub-sector ring. Here, m is a positive integer greater than or equal to j.

[0055] For example, such as Figure 3 As shown, the work area 30 is divided into fan-shaped sections by a single excavation stroke, resulting in a first sub-fan-shaped section 35 and a second sub-fan-shaped section 36. The side length 37 of the first sub-fan-shaped section 35 is equal to the length of a single excavation stroke, while the side length 38 of the second sub-fan-shaped section 36 is less than the length of a single excavation stroke.

[0056] Step S2023: Divide each sub-fan ring into regions based on the bucket width to obtain more than one sub-region.

[0057] In this embodiment of the application, after obtaining the aforementioned sub-fan rings, the computer device divides each sub-fan ring into regions based on the bucket width, resulting in more than one sub-region.

[0058] Optionally, the computer device uses the bucket width as the chord length to divide the sub-fan ring into regions along the inner arc of the sub-fan ring, resulting in more than one sub-region in the sub-fan ring.

[0059] In one possible implementation, the computer device uses the bucket width as the chord length and divides the sub-fan ring into more than one fan ring grid along the inner arc of the sub-fan ring, with each fan ring grid being a sub-region.

[0060] For example, such as Figure 3 As shown, for the first sub-fan ring 35, the bucket width 39 is used as the chord length, and the first sub-fan ring 36 is divided into multiple fan ring grids along the inner arc of the first sub-fan ring 35.

[0061] In another possible implementation, the computer device divides the sub-fan ring into regions based on the bucket width, resulting in more than one quadrilateral sub-region of the sub-fan ring, and makes adjacent sub-regions overlap on the side closer to the excavator.

[0062] For example, in the sub-fan ring, adjacent sub-regions have overlapping areas, and each sub-region is a quadrilateral region. Each sub-region includes a first side, a second and third side intersecting the first side, and a fourth side parallel to the first side. Optionally, for the first sub-region in the sub-fan ring, the first sub-region is divided within the sub-fan ring by taking the intersection of the first side and the inner arc as the starting point of the first side, the chord of the inner arc as the first side, the bucket width as the length of the first side, and the length of the first side as the length of the second side. For the i-th sub-region in the sub-fan ring, the starting point of the first side is obtained from the (i-1)-th sub-region based on a preset overlapping arc length; if the total chord length of the undivided region of the sub-fan ring is greater than or equal to the bucket width, the i-th sub-region is divided within the undivided region by taking the chord of the inner arc as the first side, the bucket width as the length of the first side, and the length of the first side as the length of the second side. Here, i is a positive integer greater than 1, and the undivided region refers to the region in the sub-fan ring that does not include sub-regions. For the i-th sub-region, when the total chord length is less than the bucket width, the i-th sub-region is obtained by dividing the undivided area using the chord of the inner arc as the first side and the total chord length as the length of the first side, and the length of the first side as the length of the second side (at this time, in the sub-fan ring, the i-th sub-region is the last sub-region. For example, if the sub-fan ring includes n sub-regions, then the i-th sub-region is the nth sub-fan ring). Here, n is a positive integer greater than or equal to i. The overlapping arc length refers to the arc length contained in the overlapping area. For example, the overlapping arc length can be any value and can be flexibly set and adjusted according to the actual situation. For example, the overlap arc length is negatively correlated with the distance between the sub-region and the excavator; that is, the closer the sub-region and the excavator are, the larger the overlap arc length, and the farther the sub-region and the excavator are, the smaller the overlap arc length (for example, the overlap arc length can be 0 when the distance is greater than the target value). For example, the flexible adjustment of the overlap arc length ensures that adjacent sub-regions have an overlap portion with a large area on the side closer to the excavator, and an overlap portion with a small area on the side farther from the excavator (or adjacent sub-regions have no overlap portion on the side farther from the excavator). For example, the target data is any value, and this target value can be flexibly set and adjusted according to the actual situation.

[0063] For example, such as Figure 4 As shown, for the first sub-sector ring 35, the first sub-sector ring 35 is divided into regions based on the bucket width 41 and the overlap length 42, resulting in sub-regions 43. Here, the overlap length 42 refers to the arc length within the overlap region 44. For example, Figure 4The distances between the neutron region and the excavator are all less than the target values ​​mentioned above, so that each adjacent sub-region can be understood as the side closer to the excavator, that is, adjacent sub-regions have overlapping parts.

[0064] This embodiment provides a digging planning method, which divides the work area into sub-regions by the single digging stroke and bucket width. The characteristics of the excavator are taken into account during the region division process. Different excavators can have different region division schemes, which improves the adaptability of the overall region division. This allows different excavators to dig in different scenarios and regions using the digging planning scheme of this application, thus improving the adaptability of the overall digging planning scheme.

[0065] Furthermore, the sub-fan rings are divided into zones based on the bucket width, and these sub-fan rings are determined based on a single digging stroke. This ensures that each digging operation affects the entire sub-zone, facilitating a uniform descent of material height within the digging area and further improving the stability and safety of the digging process. Additionally, overlapping areas between adjacent sub-fan rings further ensure denser coverage of the sub-zones, reducing material residue and improving digging efficiency.

[0066] In an exemplary embodiment, step S203 includes: Step S2031: Determine the gradient information of the sub-region based on the elevation information of the sub-region.

[0067] In this embodiment, after obtaining the aforementioned sub-region, the computer device determines the gradient information of the sub-region based on its elevation information. This gradient information is used to characterize the changes in elevation information within the sub-region.

[0068] Step S2032: Determine the platform location based on the gradient information of each sub-region.

[0069] In this embodiment, after obtaining the aforementioned gradient information, the computer device determines the platform position based on the gradient information of each sub-region. The platform position refers to the location of the excavator's tracks.

[0070] For example, the elevation information of a sub-region refers to the elevation information corresponding to the grids contained within the sub-region, and the gradient information of a sub-region includes the gradient information corresponding to the grids contained within the sub-region. Optionally, the computer device determines the platform information based on the gradient information of each sub-region and in conjunction with a gradient threshold.

[0071] Step S2033: Based on the excavator's limit information, platform position, and sub-region elevation information, determine the excavation point in the sub-region that meets the single-shovel full bucket requirement.

[0072] In this embodiment of the application, after obtaining the platform location, the computer device determines the digging point in the sub-region that meets the single-shovel full bucket requirement based on the excavator's limit information, the platform location, and the elevation information of the sub-region.

[0073] For example, meeting the requirement of a full bucket in a single shovel means that the volume of the material pile at the digging point is greater than or equal to the bucket volume of the excavator.

[0074] This embodiment provides a digging planning method that determines digging points in a sub-region by using the elevation information of the sub-region. This intuitive and accurate elevation information improves the accuracy of the determined digging points. Furthermore, by identifying points that meet the requirement of a full bucket with a single shovel as digging points, the efficiency of a single digging operation is improved, thereby increasing the overall digging efficiency.

[0075] In an exemplary embodiment, step S201 includes: Step S2011: Based on the excavator's limit information, determine the excavator's maximum and minimum working distances.

[0076] For example, the computer device rotates the excavator's slewing platform to determine the positional relationship between the excavator and the loading trolley; further, based on this positional relationship, it determines a processing area from the area to be excavated, and then determines a work area from the processing area. For instance, if the excavator is located to the left of the loading trolley, the computer device determines the area to the left of the loading trolley as the processing area within the area to be excavated; if the excavator is located to the right of the loading trolley, the computer device determines the area to the right of the loading trolley as the processing area within the area to be excavated. In this embodiment of the application, when acquiring the aforementioned work area, the computer device determines the maximum and minimum working distances of the excavator based on the excavator's limit information. The maximum working distance is the outer radius of the work area, and the minimum working distance is the inner radius of the work area.

[0077] For example, the limiting information includes boom limiting information and forearm limiting information. The computer device determines the farthest distance the excavator's boom can reach based on the boom limiting information, and then determines this farthest reachable distance as the maximum working distance. Similarly, the computer device determines the shortest reachable distance the excavator's forearm based on the forearm limiting information, and then determines this shortest reachable distance as the minimum working distance.

[0078] Step S2012: Based on the boom limit information of the excavator, determine the minimum rotation angle required for the boom of the excavator to rotate to the loading vehicle.

[0079] In this embodiment of the application, after obtaining the above-mentioned limiting information, the computer device determines the minimum rotation angle required for the excavator's boom to rotate to the loading vehicle based on the excavator's boom limiting information.

[0080] Step S2013: Based on the boom limit information, determine the maximum rotation angle as the required rotation angle when the boom is rotated to the farthest point of the loading vehicle.

[0081] In this embodiment, after obtaining the boom limit information, the computer device determines the maximum rotation angle based on the boom limit information, which is the rotation angle required for the boom to rotate to the furthest point of the loading vehicle. The sum of the maximum and minimum rotation angles is the angle of the central angle of the working area.

[0082] For example, such as Figure 5 As shown, in the work area 50, the maximum work distance 51 is the outer radius of the work area 50, the minimum work distance 52 is the inner radius of the work area 50, the side length of the work area 50 is the absolute value of the difference between the maximum work distance 51 and the minimum work distance 52, and the angle of the central angle of the work area 50 is the sum of the maximum rotation angle 53 and the minimum rotation angle 54.

[0083] Specifically, step S2013 above includes: Step a1: Based on the boom limit information, determine the required rotation angle when the boom is rotated to the farthest point of the loading vehicle, and use it as the candidate angle. Step a2: The fan-shaped area composed of the maximum working distance, minimum working distance, minimum rotation angle, and candidate angle is determined as the candidate area; Step a3: Based on the elevation information of the candidate region, determine the volume of the material pile contained in the candidate region; Step a4: If the volume of the material pile is less than or equal to the maximum capacity of the loading vehicle, the candidate angle is determined as the maximum rotation angle; at this time, the above-mentioned candidate area is the working area.

[0084] Step a5: If the volume of the material pile is greater than the maximum capacity of the loading vehicle, the candidate angles are reduced based on the maximum capacity to obtain the minimum rotation angle, so that the volume of the material pile included in the working area is equal to the maximum capacity.

[0085] This embodiment provides a digging planning method, which determines the outer and inner radii of the working area by the limit information of the excavator, and determines the angle of the circular angle of the working area by the rotation of the excavator relative to the loading vehicle. That is, the excavator can complete the digging of the area to be dug while keeping its position unchanged, which reduces the position change of the excavator during the digging process, reduces the energy consumption of the excavator during the digging process, and improves the digging efficiency of the excavator.

[0086] In addition, by reducing the maximum rotation angle based on the material pile volume of the candidate area and the maximum capacity of the loading vehicle, the material pile volume of the working area is equal to the maximum capacity. One working area corresponds to one loading vehicle. The working area is planned in a reasonable way to avoid the loading vehicle being mismatched due to a single excavator occupying too large a working area. One excavator is paired with one loading vehicle, which makes the configuration between excavators and loading vehicles more convenient. Moreover, for areas not occupied by a certain excavator, other excavators can be arranged to excavate simultaneously, improving excavation efficiency.

[0087] The following describes the method for obtaining elevation information in the mining planning process. For example, this embodiment provides a method for obtaining elevation information in the mining planning process, which can be used with the aforementioned computer equipment, such as vehicle-mounted terminals, mobile phones, tablets, wearable devices, backend servers, server clusters, distributed systems, cloud servers, or PCs (Personal Computers), etc. Figure 6 As shown, the process of obtaining elevation information in the mining planning method includes the following steps: Step S601: Obtain the first point cloud data of the area to be excavated using lidar.

[0088] Optionally, the excavation area includes one or more lidar sensors. In this embodiment, when acquiring elevation information, the computer device uses the lidar sensor to acquire first point cloud data of the area to be excavated. The first point cloud data includes more than one first lidar point.

[0089] Step S602: Based on the calibration information between the excavator and the lidar, the first point cloud data is converted to the excavator coordinate system to obtain the second point cloud data.

[0090] In this embodiment, after acquiring the first point cloud data, the computer device converts the first point cloud data to the excavator coordinate system based on the calibration information between the excavator and the lidar, thus obtaining second point cloud data. The second point cloud data includes more than one second lidar point.

[0091] For example, the calibration information is pre-acquired information. The calibration information is used to indicate the transformation relationship between the lidar coordinate system and the excavator coordinate system. Here, the lidar coordinate system refers to a three-dimensional coordinate system constructed with the lidar as its origin, and the excavator coordinate system refers to a three-dimensional coordinate system constructed with the excavator as its origin.

[0092] Step S603: Perform a validity check on the second point cloud data to obtain the third point cloud data.

[0093] In this embodiment of the application, after acquiring the second point cloud data, the computer device performs a validity check on the second point cloud data to obtain third point cloud data. The third point cloud data includes more than one third laser point.

[0094] Specifically, step S603 above includes at least one of the following: Step S6031: Based on the scanning distance between each second laser point and the lidar in the second point cloud data, remove the second laser points whose scanning distance is less than the distance threshold to obtain the third point cloud data.

[0095] Optionally, in this embodiment, after acquiring the third point cloud data, the computer device removes second laser points whose scanning distance is less than a distance threshold based on the scanning distance between each second laser point in the second point cloud data and the lidar, thus obtaining the third point cloud data. This eliminates points that are too close to the lidar, which is beneficial for eliminating laser points generated by the device's own components during measurement, thereby improving the stability of the third point cloud data.

[0096] For example, the distance threshold can be any value, and the distance threshold can be flexibly set and adjusted according to the actual situation. This application embodiment does not limit this.

[0097] Step S6032: Based on the height distance between the horizontal plane and each second laser point, remove the second laser points whose height distance is greater than the height threshold to obtain the third point cloud data.

[0098] Optionally, in this embodiment, after acquiring the third point cloud data, the computer device removes second laser points whose height distance is greater than a height threshold based on the height distance between the horizontal plane and each second laser point, thus obtaining the third point cloud data. This removes extreme outliers from the second point cloud data, improving the accuracy of subsequent elevation information acquisition.

[0099] Step S6033: Based on the horizontal distance between each second laser point and the lidar, determine the slope threshold corresponding to each second laser point; based on the vertical distance between each second laser point and the lidar, remove second laser points whose vertical distance is greater than the slope threshold to obtain the third point cloud data.

[0100] Optionally, in this embodiment of the application, after obtaining the third point cloud data, the computer device determines the slope threshold corresponding to each second laser point based on the horizontal distance between each second laser point and the lidar; based on the vertical distance between each second laser point and the lidar, the second laser points with a vertical distance greater than the slope threshold are removed to obtain the third point cloud data.

[0101] Optionally, in this embodiment, the slope threshold and horizontal distance are linearly positively correlated; that is, the larger the horizontal distance, the higher the slope threshold, and the smaller the horizontal distance, the lower the slope threshold. This simulates the characteristic that "higher materials can be scanned at greater distances," linearly filtering the second point cloud data and improving the accuracy of the third point cloud data.

[0102] For example, the formula for calculating the ramp threshold is: Slope threshold = A × horizontal distance + C; Where A and C are preset hyperparameters.

[0103] Step S604: By vertical projection, the third point cloud data is discretized into a grid based on the grid resolution to obtain the two-dimensional data point set corresponding to each grid.

[0104] In this embodiment of the application, after acquiring the aforementioned third point cloud data, the computer device discretizes the third point cloud data into a grid based on the grid resolution through vertical projection, obtaining a two-dimensional data point set corresponding to each grid. The two-dimensional data point set includes more than one two-dimensional data point.

[0105] For example, if the coordinates of the third laser point in the excavator coordinate system are (x, y, z), after discretizing the third laser point into a grid using the vertical projection method, the grid index corresponding to the third laser point is (o, p) = ([x / r], [y / r]). Here, r is the grid resolution. For example, r = 0.2.

[0106] Step S605: Determine the height and variance of the grid based on the predicted noise and the two-dimensional data point set corresponding to the grid.

[0107] In this embodiment, the elevation information corresponding to the grid includes the grid's height and variance, and the elevation information of the sub-region refers to the elevation information corresponding to the grids contained within the sub-region. After acquiring the aforementioned two-dimensional data point set, the computer device determines the grid's height and variance based on the predicted noise and the two-dimensional data point set corresponding to the grid. The predicted noise is the noise predicted based on the sensor noise model.

[0108] For example, the computer device uses Mahalanobis distance test to exclude two-dimensional data points that are significantly deviated from the grid in the two-dimensional dataset, and retains the highest two-dimensional data points for vertical edges (such as walls) to avoid geometric distortion caused by averaging, thus obtaining a processed two-dimensional data point set; then, the processed two-dimensional data point set is processed by Kalman filtering to obtain the height and variance of the grid.

[0109] For example, the height of the grid, map_h, is: ; new variance of the grid v for: ; Where v is the noise predicted based on the sensor noise model, v = b × z 2 z is the z-axis coordinate of the observation point in the excavator coordinate system, b is a hyperparameter, and map_v refers to the variance of the grid obtained without Kalman filtering.

[0110] The elevation information acquisition method in the excavation planning method provided in this embodiment obtains elevation information through lidar, which is simple and accurate. Accurate elevation information is beneficial to improving the accuracy of subsequent excavation planning.

[0111] In addition, processing the second point cloud data through validity checks further improves the accuracy of elevation information, and the filtering of point cloud data can improve the efficiency of subsequent point cloud data processing, thereby improving the efficiency of elevation information acquisition, which is conducive to improving mining efficiency from the side.

[0112] For example, the elevation information acquisition method in the above-described excavation planning method can also be executed within the excavation planning method. This embodiment provides an excavation planning method that can be used with the aforementioned computer devices, such as vehicle-mounted terminals, mobile phones, tablets, wearable devices, backend servers, server clusters, distributed systems, cloud servers, or PCs (Personal Computers), etc. Figure 7 This is a flowchart of the mining planning method according to an embodiment of this application, such as... Figure 7 As shown, the process includes the following steps: Step S701: Obtain the first point cloud data of the area to be excavated using lidar.

[0113] Step S702: Based on the calibration information between the excavator and the lidar, the first point cloud data is converted to the excavator coordinate system to obtain the second point cloud data.

[0114] Step S7032: Based on the height distance between the horizontal plane and each second laser point, remove the second laser points whose height distance is greater than the height threshold to obtain the third point cloud data.

[0115] Step S704: By vertical projection, the third point cloud data is discretized into a grid based on the grid resolution to obtain the two-dimensional data point set corresponding to each grid.

[0116] The above steps S701-704 and Figure 6 Steps S601-604 in the embodiment are similar; see details below. Figure 2 Examples are not detailed here.

[0117] Step S705: Obtain the working area of ​​the excavator.

[0118] Step S706: Divide the work area into regions based on the bucket width of the excavator to obtain more than one sub-region covering the work area.

[0119] Step S707: Based on the elevation information of each sub-region, determine more than one excavation point.

[0120] Step S708: Determine the excavation sequence of each excavation point based on the positional relationship between the loading vehicle and the excavator.

[0121] The above steps S705-708 and Figure 2 Steps S201-204 in the embodiment are similar; see details below. Figure 2 Examples are not detailed here.

[0122] As one or more specific application embodiments of this application, the optimal implementation scheme or the scheme that the inventors most want to embody is described in combination with the specific application scenario.

[0123] This embodiment also provides a mining planning device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0124] This embodiment provides a digging planning device, such as... Figure 8 As shown, it includes: The area acquisition module 801 is used to acquire the working area of ​​the excavator; The area division module 802 is used to divide the work area based on the bucket width of the excavator to obtain more than one sub-area covering the work area; The excavation determination module 803 is used to determine more than one excavation point based on the elevation information of each sub-region; wherein, each sub-region includes one excavation point; The sequence determination module 804 is used to determine the excavation sequence of each excavation point based on the positional relationship between the loading vehicle and the excavator.

[0125] In some optional implementations, the working area is a fan-shaped area; the area division module 702 includes: The stroke acquisition unit is used to acquire the single digging stroke of the excavator; The fan-ring division unit is used to divide the work area into fan-rings along the side of the work area based on a single excavation stroke, to obtain at least one sub-fan-ring; wherein the side length of the sub-fan-ring is less than or equal to the single excavation stroke. The region division unit is used to divide each sub-fan ring into regions based on the bucket width, resulting in more than one sub-region.

[0126] In some alternative implementations, a region division unit is used to divide the sub-fan ring along the inner arc of the sub-fan ring, using the bucket width as the chord length, to obtain more than one sub-region in the sub-fan ring.

[0127] In some optional implementations, within the sub-fan ring, adjacent sub-regions overlap, and the sub-regions are quadrilateral regions; the region division unit is used for: For the first sub-region in the sub-fan ring, the first sub-region is obtained by taking the intersection of the first side and the inner arc as the starting point of the first side, the chord of the inner arc as the first side, the bucket width as the length of the first side, and the length of the first side as the length of the second side. For the i-th sub-region in the sub-fan ring, the starting point of the first side is obtained from the (i-1)-th sub-region based on the preset overlapping arc length; if the total chord length of the undivided region of the sub-fan ring is greater than or equal to the bucket width, the chord of the inner arc is taken as the first side, the bucket width is taken as the length of the first side, and the length of the first side is taken as the length of the second side, and the i-th sub-region is obtained in the undivided region; where i is a positive integer greater than 1, and the undivided region refers to the region in the sub-fan ring that does not include the sub-region; For the i-th sub-region, if the total chord length is less than the bucket width, the chord of the inner arc is taken as the first side, the total chord length is taken as the length of the first side, and the length of the first side is taken as the length of the second side. The i-th sub-region is then divided in the undivided region.

[0128] In some alternative implementations, the mining determination module 803 includes: The gradient determination unit is used to determine the gradient information of a sub-region based on its elevation information. The platform determination unit is used to determine the platform location based on the gradient information of each sub-region; The excavation determination unit is used to determine the excavation point in the sub-region that meets the single-shovel full bucket requirement based on the excavator's limit information, platform position, and sub-region elevation information.

[0129] In some alternative implementations, the sequence determination module 804 is used to determine the excavation sequence based on the positional relationship between the loading vehicle and the excavator, starting from the excavation point closest to the loading vehicle.

[0130] In some alternative implementations, the region acquisition module 801 includes: The radius acquisition unit is used to determine the maximum and minimum working distances of the excavator based on the excavator's limit information; wherein, the maximum working distance is the outer radius of the working area, and the minimum working distance is the inner radius of the working area; The minimum acquisition unit is used to determine the minimum rotation angle required when the excavator's boom is rotated to the loading vehicle, based on the boom limit information of the excavator. The maximum acquisition unit is used to determine the maximum rotation angle as the required rotation angle when the boom is rotated to the farthest point of the loading vehicle based on the boom limit information; wherein, the sum of the maximum rotation angle and the minimum rotation angle is the angle of the central angle of the working area.

[0131] In some optional implementations, the maximum acquisition unit is used for: Based on the boom limit information, the required rotation angle when the boom is rotated to the farthest point of the loading vehicle is determined as the candidate angle. The fan-shaped region composed of the maximum working distance, minimum working distance, minimum rotation angle, and candidate angle is determined as the candidate region; Based on the elevation information of the candidate region, the volume of the material pile contained in the candidate region is determined; When the volume of the material pile is less than or equal to the maximum capacity of the loading vehicle, the candidate angle is determined as the maximum rotation angle; When the volume of the material pile is greater than the maximum capacity of the loading vehicle, the candidate angles are reduced based on the maximum capacity to obtain the minimum rotation angle, so that the volume of the material pile included in the working area is equal to the maximum capacity.

[0132] In some alternative embodiments, the apparatus further includes: The radar scanning module is used to acquire the first point cloud data of the area to be excavated using lidar. The coordinate transformation module is used to transform the first point cloud data to the excavator coordinate system based on the calibration information between the excavator and the lidar to obtain the second point cloud data; The point cloud filtering module is used to perform validity checks on the second point cloud data to obtain the third point cloud data; The data discretization module is used to discretize the third point cloud data into a grid based on the grid resolution through vertical projection, so as to obtain the two-dimensional data point set corresponding to each grid. The elevation acquisition module is used to determine the height and variance of the grid based on the prediction noise and the two-dimensional data point set corresponding to the grid. The elevation information corresponding to the grid includes the height and variance of the grid, and the elevation information of the sub-region refers to the elevation information of the grids contained in the sub-region.

[0133] In some alternative implementations, the point cloud filtering module is used for at least one of the following: Based on the scanning distance between each second laser point and the lidar in the second point cloud data, the second laser points whose scanning distance is less than the distance threshold are removed to obtain the third point cloud data; Based on the height distance between the horizontal plane and each second laser point, the second laser points with a height distance greater than the height threshold are removed to obtain the third point cloud data; Based on the horizontal distance between each second laser point and the lidar, the slope threshold corresponding to each second laser point is determined; based on the vertical distance between each second laser point and the lidar, second laser points with a vertical distance greater than the slope threshold are removed to obtain the third point cloud data; among them, the slope threshold and the horizontal distance are linearly positively correlated.

[0134] In some alternative embodiments, the apparatus further includes: The excavation control module is used to control the excavator to excavate the excavation point based on the excavation sequence; One excavation point corresponds to one excavation operation.

[0135] The excavation planning apparatus provided in this application embodiment can execute the excavation planning method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects for executing the method. Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0136] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0137] The following is a detailed reference. Figure 9 The diagram illustrates a structural schematic suitable for implementing the electronic device described in the embodiments of this application. The electronic device may include a processor (e.g., a central processing unit, graphics processor, etc.) 901, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 902 or a program loaded from memory 908 into random access memory (RAM) 903. The RAM 903 also stores various programs and data required for the operation of the electronic device. The processor 901, ROM 902, and RAM 903 are interconnected via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0138] Typically, the following devices can be connected to I / O interface 905: input devices 906 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 907 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 908 including, for example, magnetic tapes, hard disks, etc.; and communication devices 909. Communication device 909 allows electronic devices to exchange data via wireless or wired communication with other devices. Although Figure 9 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0139] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 909, or installed from a memory 908, or installed from a ROM 902. When the computer program is executed by the processor 901, it performs the functions defined in the mining planning method of embodiments of this application.

[0140] Figure 9 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0141] This application also provides a computer-readable storage medium. The methods described in this application can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the mining planning method shown in the above embodiments is implemented.

[0142] A portion of this application can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to this application through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0143] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A method for planning and excavation, characterized in that, The method includes: Obtain the operating area of ​​the excavator; The working area is divided into regions based on the bucket width of the excavator, resulting in more than one sub-region covering the working area; Based on the elevation information of each of the sub-regions, more than one excavation point is determined; wherein, each sub-region includes one excavation point; The excavation sequence of each excavation point is determined based on the positional relationship between the loading vehicle and the excavator.

2. The method according to claim 1, characterized in that, The work area is an area that has at least a partially circular arc boundary; The method of dividing the work area based on the bucket width of the excavator to obtain more than one sub-region covering the work area includes: Obtain the single digging stroke of the excavator; Based on the single excavation stroke, the working area is divided into fan-shaped sections along its side to obtain at least one sub-fan-shaped section; wherein the side length of the sub-fan-shaped section is less than or equal to the single excavation stroke. Based on the bucket width, each of the sub-fan rings is divided into regions to obtain more than one sub-region.

3. The method according to claim 2, characterized in that, The process of dividing each of the sub-fan rings into regions based on the bucket width to obtain more than one sub-region includes: Using the bucket width as the chord length, the sub-fan ring is divided into regions along the inner arc of the sub-fan ring, resulting in more than one sub-region in the sub-fan ring.

4. The method according to claim 2, characterized in that, The process of dividing each of the sub-fan rings into regions based on the bucket width to obtain more than one sub-region includes: Based on the width of the bucket, the sub-fan ring is divided into regions to obtain more than one quadrilateral sub-region of the sub-fan ring, and the adjacent sub-regions have an overlapping part on the side closer to the excavator.

5. The method according to any one of claims 1-4, characterized in that, The determination of more than one excavation point based on the elevation information of each of the sub-regions includes: Based on the elevation information of the sub-region, determine the gradient information of the sub-region; The platform location is determined based on the gradient information of each sub-region; Based on the excavator's limit information, the platform's location, and the sub-region's elevation information, the excavation point that meets the single-shovel full-bucket requirement is determined in the sub-region.

6. The method according to claim 1, characterized in that, The determination of the excavation sequence at each excavation point based on the positional relationship between the loading vehicle and the excavator includes: Based on the positional relationship between the loading vehicle and the excavator, the excavation sequence is determined to be from the excavation point closer to the loading vehicle to the excavation point farther away from the loading vehicle.

7. The method according to claim 1, characterized in that, The acquisition of the excavator's operating area includes: Based on the excavator's limit information, the maximum and minimum working distances of the excavator are determined; wherein, the maximum working distance is the outer radius of the working area, and the minimum working distance is the inner radius of the working area; Based on the boom limit information of the excavator, the minimum rotation angle is determined as the rotation angle required for the boom of the excavator to rotate to the loading vehicle. Based on the boom limit information, the rotation angle required to rotate the boom to the farthest point of the loading vehicle is determined as the maximum rotation angle; wherein, the sum of the maximum rotation angle and the minimum rotation angle is the angle of the central angle of the working area.

8. The method according to claim 7, characterized in that, The determination of the maximum rotation angle, based on the boom limit information, as the required rotation angle to rotate the boom to the furthest point of the loading vehicle, includes: Based on the boom limit information, the rotation angle required when the boom is rotated to the farthest point of the loading vehicle is determined as a candidate angle. The fan-shaped region formed by the maximum working distance, the minimum working distance, the minimum rotation angle, and the candidate angle is determined as the candidate region; Based on the elevation information of the candidate region, the volume of the material pile contained in the candidate region is determined; If the volume of the material pile is less than or equal to the maximum capacity of the loading vehicle, the candidate angle is determined as the maximum rotation angle. If the volume of the material pile is greater than the maximum capacity of the loading vehicle, the candidate angle is reduced based on the maximum capacity to obtain the minimum rotation angle, such that the volume of the material pile included in the working area is equal to the maximum capacity.

9. The method according to claim 1, characterized in that, The method further includes: The first point cloud data of the area to be excavated is obtained using lidar; Based on the calibration information between the excavator and the lidar, the first point cloud data is converted to the excavator coordinate system to obtain the second point cloud data; The validity of the second cloud data point is checked to obtain the third cloud data point. By vertical projection, the third point cloud data is discretized into the grid based on the grid resolution to obtain a two-dimensional data point set corresponding to each grid. Based on the predicted noise and the two-dimensional data point set corresponding to the grid, the height and variance of the grid are determined; wherein, the elevation information corresponding to the grid includes the height and variance of the grid, and the elevation information of the sub-region refers to the elevation information corresponding to the grid contained in the sub-region.

10. The method according to claim 9, characterized in that, The validity check of the second point cloud data to obtain the third point cloud data includes at least one of the following: Based on the scanning distance between each second laser point in the second point cloud data and the lidar, the second laser points whose scanning distance is less than the distance threshold are removed to obtain the third point cloud data; Based on the height distance between the horizontal plane and each of the second laser points, the second laser points whose height distance is greater than the height threshold are removed to obtain the third point cloud data; Based on the horizontal distance between each second laser point and the lidar, a slope threshold is determined for each second laser point; based on the vertical distance between each second laser point and the lidar, second laser points with a vertical distance greater than the slope threshold are removed to obtain the third point cloud data; wherein, the slope threshold and the horizontal distance are linearly positively correlated.

11. The method according to claim 1, characterized in that, The method includes: The excavator is controlled to excavate the excavation point based on the excavation sequence; One excavation point corresponds to one excavation operation.

12. A digging planning device, characterized in that, The device includes: The area acquisition module is used to acquire the operating area of ​​the excavator; The area division module is used to divide the working area based on the bucket width of the excavator to obtain more than one sub-area covering the working area; The excavation determination module is used to determine more than one excavation point based on the elevation information of each of the sub-regions; wherein, each sub-region includes one excavation point; The sequence determination module is used to determine the excavation sequence of each excavation point based on the positional relationship between the loading vehicle and the excavator.

13. An electronic device, characterized in that, include: A memory and a processor are communicatively connected, the memory storing computer instructions, and the processor executing the computer instructions to perform the excavation planning method according to any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the excavation planning method according to any one of claims 1 to 11.

15. A computer program product, characterized in that, Includes computer instructions for causing a computer to perform the excavation planning method according to any one of claims 1 to 11.

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