A work data determination method and device, electronic equipment and storage medium

Abstract

The application provides a work data determination method and device, electronic equipment and storage medium, comprising: creating a unified coordinate system; scanning the material pile through a 3D scanning device to obtain a scanning point set of the material pile in the unified coordinate system; adjusting the rotation angle of the scraper, for each rotation angle, determining the corresponding second coordinate of the position of the marker rod in the unified coordinate system through the 3D scanning device; determining the scraper rotation center coordinate according to the rotation angle and the corresponding second coordinate of the position of the marker rod at the rotation angle; determining the corresponding rotation angle of each scanning point according to the plurality of scanning points, the corresponding first coordinate and the scraper rotation center coordinate; and determining the corresponding target work point and turning position of the scraper according to the corresponding rotation angle of each scanning point. Through the corresponding relationship between the material pile scanning point coordinate and the rotation angle, the target work point and the turning position of the scraper can be quickly determined, and the work efficiency of the scraper is improved.

Description

Technical Field

[0001] This application relates to the field of coal mining technology, and in particular to a method, apparatus, electronic device and storage medium for determining operational data. Background Technology

[0002] In the C-type material yard, the scraper conveyor performs corresponding leveling and material removal operations on the material pile. When the scraper conveyor performs the corresponding operation, it will determine the first point of operation or the round-trip point of operation according to a certain algorithm to guide the operation of the scraper conveyor.

[0003] The current algorithm for calculating the working point or the turnaround point of the scraper conveyor is as follows: scan the material pile of the C-shaped material yard with a 3D scanner to construct a point cloud model of the material pile, and then calculate the normal vector or curvature corresponding to each scanning point of the material pile. Based on the calculated curvature and point cloud features, the first working point of the scraper conveyor and the turnaround point of the scraper conveyor are determined.

[0004] The drawback of the above method is that it requires calculating the curvature of each scan point in the point cloud model or analyzing the point cloud features. Furthermore, when the point cloud changes, it must be recalculated globally, which is computationally intensive and very complex. This greatly reduces the operating efficiency of the scraper conveyor and fails to achieve the goal of providing real-time guidance for the scraper conveyor operation. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide at least one method, apparatus, electronic device and storage medium for determining work data, which can quickly determine the target work point and reversal position of the scraper conveyor by the correspondence between the coordinates of the material pile scanning point and the rotation angle, thereby improving the working efficiency of the scraper conveyor.

[0006] This application mainly includes the following aspects:

[0007] In a first aspect, embodiments of this application provide a method for determining work data, the work data including the work points and reversal positions of a scraper conveyor. The method includes: creating a unified coordinate system, where the X-axis of the unified coordinate system is the direction of movement of the work points of the scraper conveyor, and a marker rod is set on the lower surface of the scraper conveyor; scanning the material pile using a 3D scanning device to obtain a set of scan points of the material pile in the unified coordinate system, the set of scan points including multiple scan points and their corresponding first coordinates; adjusting the rotation angle of the scraper conveyor, and for each rotation angle, determining the second coordinates of the marker rod's position in the unified coordinate system using the 3D scanning device; determining the coordinates of the scraper rotation center based on the rotation angle and the second coordinates of the marker rod's position in the rotation angle, where the rotation angle represents the slope angle formed by the marker rod's position and the scraper rotation center in the YOZ plane; determining the rotation angle corresponding to each scan point based on the multiple scan points, their corresponding first coordinates, and the scraper rotation center coordinates; and determining the target work point and reversal position of the scraper conveyor based on the rotation angle corresponding to each scan point.

[0008] In one optional embodiment, the step of determining the coordinates of the scraper rotation center based on the rotation angle and the second coordinate corresponding to the position of the marker rod at the rotation angle includes: for each rotation angle, performing the following processing: based on the second coordinate corresponding to the marker rod at that rotation angle, creating a slope expression formed by the position of the marker rod and the position of the scraper rotation center in the YOZ plane; performing inverse trigonometric function processing on the slope expression to determine the processing result; based on the correspondence between the processing result and the rotation angle, creating a matrix equation between the rotation angle, the position of the marker rod, and the position of the scraper rotation center; and obtaining the coordinates of the scraper rotation center by solving the matrix equation.

[0009] In an alternative implementation, the coordinates of the scraper rotation center are determined by the following matrix equation:

[0010]

[0011] Where, θ i Let z represent the i-th rotation angle. p This represents the Z-axis coordinate of the scraper's rotation center, y p The z-axis coordinate of the scraper rotation center is represented by z. si This represents the Z-axis coordinate of the position of the marker rod s at the i-th rotation angle, y si This represents the Y-axis coordinate corresponding to the position of the marker rod s at the i-th rotation angle.

[0012] In one optional implementation, the scraper center coordinates are determined by substituting each rotation angle and the second coordinate of the marker rod at each rotation angle into the matrix equation to obtain a multidimensional matrix equation; the optimal solution of the multidimensional matrix equation is obtained to obtain the Z-axis and Y-axis coordinates corresponding to the scraper center.

[0013] In one optional embodiment, the step of determining the target working point of the scraper machine according to the rotation angle corresponding to each scanning point includes: determining the scanning point corresponding to the maximum rotation angle as the target scanning point; and determining the target working point of the scraper machine according to the Z-axis coordinate corresponding to the target scanning point and the maximum rotation angle.

[0014] In one optional embodiment, the step of determining the reversal position of the scraper machine according to the rotation angle corresponding to each scanning point includes: determining an upper limit and a lower limit of the rotation angle operation based on the maximum rotation angle, wherein the lower limit of the rotation angle operation is the difference between the maximum rotation angle and a preset angle threshold, and the upper limit of the rotation angle operation is the sum of the maximum rotation angle and the preset angle threshold; determining the X coordinate of the scanning point corresponding to the upper limit of the rotation angle operation as the first reversal position of the scraper machine, and determining the X coordinate of the scanning point corresponding to the lower limit of the rotation angle operation as the second reversal position of the scraper machine.

[0015] Secondly, embodiments of this application also provide a work data determination device, comprising: a coordinate system creation module for creating a unified coordinate system, wherein the X-axis of the unified coordinate system is the direction of movement of the work point of the scraper conveyor, and a marker rod is set on the lower surface of the scraper conveyor; a first coordinate determination module for scanning the material pile using a 3D scanning device to obtain a set of scan points of the material pile in the unified coordinate system, the set of scan points including multiple scan points and their corresponding first coordinates; a second coordinate determination module for adjusting the rotation angle of the scraper conveyor, and for each rotation angle, determining the second coordinates corresponding to the position of the marker rod in the unified coordinate system using a 3D scanning device; a scraper rotation center determination module for determining the coordinates of the scraper rotation center based on the rotation angle and the second coordinates corresponding to the position of the marker rod in the rotation angle, wherein the rotation angle represents the slope angle formed by the position of the marker rod and the scraper rotation center in the YOZ plane; a rotation angle determination module for determining the rotation angle corresponding to each scan point based on multiple scan points and their corresponding first coordinates and the coordinates of the scraper rotation center; and a work data determination module for determining the target work point and the return position of the scraper conveyor based on the rotation angle corresponding to each scan point.

[0016] In an optional embodiment, the scraper rotation center determination module is further configured to: for each rotation angle, perform the following processing: based on the second coordinates corresponding to the marker rod at that rotation angle, create a slope expression formed by the location of the marker rod and the location of the scraper rotation center in the YOZ plane; perform inverse trigonometric function processing on the slope expression to determine the processing result; based on the correspondence between the processing result and the rotation angle, create a matrix equation between the rotation angle, the location of the marker rod, and the location of the scraper rotation center; and obtain the coordinates of the scraper rotation center by solving the matrix equation.

[0017] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate via the bus. The machine-readable instructions are executed by the processor to perform the steps of the job data determination method in the first aspect or any possible implementation of the first aspect.

[0018] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the job data determination method in the first aspect or any possible implementation of the first aspect.

[0019] This application provides a method, apparatus, electronic device, and storage medium for determining work data, including: creating a unified coordinate system; scanning a material pile using a 3D scanning device to obtain a set of scan points in the unified coordinate system; adjusting the rotation angle of the scraper conveyor, and for each rotation angle, determining the second coordinates of the marker rod's position in the unified coordinate system using the 3D scanning device; determining the coordinates of the scraper rotation center based on the rotation angle and the second coordinates of the marker rod's position; determining the rotation angle corresponding to each scan point based on multiple scan points, their corresponding first coordinates, and the scraper rotation center coordinates; and determining the target work point and reversal position of the scraper conveyor based on the rotation angle corresponding to each scan point. This application, through the correspondence between the coordinates of the material pile scan points and the rotation angle, can quickly determine the target work point and reversal position of the scraper conveyor, improving the operating efficiency of the scraper conveyor.

[0020] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A flowchart illustrating a method for determining job data provided in an embodiment of this application;

[0023] Figure 2 This illustration shows a schematic diagram of a material yard cross-section provided in an embodiment of this application;

[0024] Figure 3This illustration shows a schematic diagram of the structure of a job data determination device provided in an embodiment of this application;

[0025] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0026] 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. It should be understood that the drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0027] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0028] The current algorithm for calculating the working point or the scraper conveyor turnaround point involves scanning the material pile in a C-shaped material yard using a 3D scanner to construct a point cloud model of the material pile. Then, the normal vector and curvature corresponding to each scanned point of the material pile are calculated to further determine the first working point and the turnaround point of the scraper conveyor. Its main drawback is its slow computational efficiency, failing to achieve real-time guidance for scraper conveyor operation. Furthermore, when the point cloud changes, a global recalculation is necessary, severely impacting computational efficiency and slowing down the improvement of scraper conveyor performance.

[0029] Based on this, embodiments of this application provide a method, apparatus, electronic device, and storage medium for determining work data. By establishing the correspondence between the coordinates of the material pile scanning points and the rotation angle, the target work point and reversal position of the scraper conveyor can be quickly determined, thereby improving the working efficiency of the scraper conveyor. Specifically, as follows:

[0030] Please see Figure 1 , Figure 1This is a flowchart illustrating a method for determining work data provided in an embodiment of this application. The work data includes the scraper conveyor's work points and turnaround positions, such as... Figure 1 As shown, the method provided in this application embodiment includes the following steps:

[0031] S100. Create a unified coordinate system.

[0032] In this system, the X-axis represents the direction of movement of the scraper conveyor's working point.

[0033] S200. The material pile is scanned using a 3D scanning device to obtain the set of scan points of the material pile in a unified coordinate system.

[0034] The scan point set includes multiple scan points and the first coordinate corresponding to each scan point.

[0035] S300. Adjust the rotation angle of the scraper machine. For each rotation angle, use a 3D scanning device to determine the second coordinate of the marker rod's position in a unified coordinate system.

[0036] S400. Determine the coordinates of the scraper rotation center based on the rotation angle and the second coordinate corresponding to the position of the marker rod at the rotation angle.

[0037] The rotation angle represents the slope angle formed by the position of the marker rod and the rotation center of the scraper in the YOZ plane.

[0038] S500. Based on multiple scanning points and their corresponding first coordinates and the coordinates of the scraper rotation center, determine the rotation angle corresponding to each scanning point.

[0039] S600: Determine the target working point and reversal position of the scraper conveyor based on the rotation angle corresponding to each scanning point.

[0040] In step S100, please refer to Figure 2 , Figure 2 This illustration shows a schematic cross-sectional view of a material yard according to an embodiment of this application. In this application, after mapping the material yard onto the YOZ plane, the following is obtained: Figure 2 The cross-section of the material yard shown is as follows: Figure 2 As shown, a marker rod is set on the lower surface of the scraper conveyor 1, and a 3D scanning device (not shown in the figure) is also set on the scraper conveyor gantry. The 3D scanning device can scan the material pile 3 and the location of the marker rod 2. The scraper conveyor 1 rotates with the scraper rotation center P as the fixed point.

[0041] In this application, because the 3D scanning equipment is set on the scraper conveyor gantry and moves with the scraper conveyor, if the coordinate system of the 3D scanning equipment itself is used as a reference, the coordinates of the material pile marker rod will also change after the scraper conveyor moves. This is not conducive to subsequent calculations. Therefore, this application first creates a unified coordinate system. The up and down movement of the scraper conveyor is determined by the rotation angle of the scraper conveyor, and the X-axis of the unified coordinate system of this application indicates the direction of movement of the working point of the scraper conveyor.

[0042] In step S200, after creating a unified coordinate system, the point cloud model corresponding to the material pile needs to be obtained by scanning with a 3D scanning device. Then, according to the coordinate angle transformation relationship of the scraper angle under the unified coordinate system, the point cloud model is further transformed to the unified coordinate system to obtain the scan point set.

[0043] Specifically, assuming that the stockpile scan yields n scan points, then the scan point set P1 is:

[0044]

[0045] Among them, [x r1 y r1 z r1 [x] represents the first coordinate of the first scan point in a unified coordinate system. r2 y r2 z r2 [x] represents the first coordinate of the second scan point in a unified coordinate system. rn y rn z rn [] represents the first coordinate of the nth scan point in the unified coordinate system.

[0046] In step S300, the scraper conveyor rotates around the scraper rotation center as a fixed point. The rotation angle of the scraper conveyor is adjusted, and the second coordinate of the marker rod in a unified coordinate system is recorded at each rotation angle. Specifically, starting from the initial rotation angle, the scraper conveyor is continuously raised to the upper limit of rotation according to a preset angle interval. In this process, assuming a total of m rotation angles are obtained, the coordinates of the marker rod at the m rotation angles are used to form the following coordinate matrix P2:

[0047]

[0048] Among them, [x s1 y s1 z s1 [x] represents the second coordinate corresponding to the marker rod at the first rotation angle. s2 y s2 z s2 [x] represents the second coordinate corresponding to the marker rod at the second rotation angle. sm ysn z sm [] represents the second coordinate of the marker rod at the m-th rotation angle.

[0049] In a preferred embodiment, step S400 includes:

[0050] For each rotation angle, perform the following processing:

[0051] Based on the second coordinates corresponding to the marker rod at the rotation angle, create a slope expression for the position of the marker rod and the position of the scraper rotation center in the YOZ plane. Perform inverse trigonometric function processing on the slope expression to determine the processing result. Based on the correspondence between the processing result and the rotation angle, create a matrix equation between the rotation angle, the position of the marker rod, and the position of the scraper rotation center. Obtain the matrix equation to get the coordinates of the scraper rotation center.

[0052] Specifically, taking the coordinate matrix P2 mentioned above as an example, assume the coordinates of the scraper rotation center are [z p y p Based on the coordinate matrix P2 and m rotation angles, a rotation angle matrix [θ1 θ2 ... θ] is formed. m ] T And the coordinates of the scraper rotation center are [z p y p ],get:

[0053]

[0054] Among them, z si Represents the i-th rotation angle θ i The Z-axis coordinate corresponding to the marker rod s is y si Represents the i-th rotation angle θ i The y-axis coordinate corresponding to the marker rod s, z-axis coordinate si -z p / y si -y p Represents the i-th rotation angle θ i Below, the slope expression formed by the position of the marker rod s and the position of the scraper rotation center p in the YOZ plane is given. The result of the slope expression after inverse trigonometric function processing is the rotation angle. Through further transformation of the above formula, the matrix equation is obtained:

[0055]

[0056] Where i∈[1,m], θ i Let z represent the i-th rotation angle. p This represents the Z-axis coordinate of the scraper's rotation center, y p The z-axis coordinate of the scraper rotation center is represented by z. siThis represents the Z-axis coordinate of the position of the marker rod s at the i-th rotation angle, y si This represents the Y-axis coordinate corresponding to the position of the marker rod s at the i-th rotation angle.

[0057] In another preferred embodiment, the scraper center coordinates are determined in the following manner:

[0058] Substitute each rotation angle and the second coordinate of the marker rod at each rotation angle into the matrix equation to obtain the multidimensional matrix equation. Find the optimal solution of the multidimensional matrix equation to obtain the Z-axis and Y-axis coordinates corresponding to the center of the scraper.

[0059] Specifically, as the scraper conveyor rotates upwards, at each rotation angle, the marker rod corresponds to a second coordinate. Substituting each rotation angle and its corresponding second coordinate into the aforementioned matrix equation yields a matrix about the scraper's rotation center [z]. p y p The solution to an m-dimensional equation, i.e., an overdetermined equation of the form Ax = b, can be obtained by solving the m-dimensional equation to obtain the optimal coordinates corresponding to the rotation center of the scraper conveyor.

[0060] In step S500, after determining the coordinates of the scraper rotation center, the rotation angle corresponding to each scanning point can be determined based on the first coordinates corresponding to each scanning point on the material pile (referencing scanning point set P1). Specifically, taking scanning point set P1 as an example, the rotation angle corresponding to each scanning point in scanning point set P1 is:

[0061]

[0062] That is, for the l-th scan point, calculate the Z-axis coordinate z corresponding to the l-th scan point. rl Z-axis coordinate z corresponding to the center of rotation of the scraper p Calculate the Z-coordinate difference between the two points, and then calculate the Y-coordinate y of the l-th scan point. rl The Y-axis coordinate corresponding to the center of rotation of the scraper p The difference in Y coordinates between the two points is used to determine the tangent corresponding to the ratio of the difference in Z coordinates to the difference in Y coordinates. This yields the rotation angle θ corresponding to the l-th scanning point. l .

[0063] In a preferred embodiment, step S600 includes:

[0064] The scanning point corresponding to the maximum rotation angle is determined as the target scanning point. Based on the Z-axis coordinates of the target scanning point and the maximum rotation angle, the target working point of the scraper conveyor is determined.

[0065] Specifically, determine the maximum rotation angle maxθ l According to maxθ lThe target work point is determined by its X-axis coordinates and the corresponding scanning points. ,maxθ l ),in, This represents the maximum rotation angle, maxθ. l The x-coordinate of the corresponding scan point.

[0066] In a preferred embodiment, step S600 further includes:

[0067] Based on the maximum rotation angle, determine the upper limit and lower limit of the rotation angle operation. The lower limit of the rotation angle operation is the difference between the maximum rotation angle and the preset angle threshold, and the upper limit of the rotation angle operation is the sum of the maximum rotation angle and the preset angle threshold. The X coordinate of the scanning point corresponding to the upper limit of the rotation angle operation is determined as the first reversal position of the scraper machine, and the X coordinate of the scanning point corresponding to the lower limit of the rotation angle operation is determined as the second reversal position of the scraper machine.

[0068] Based on the same application concept, this application also provides a work data determination device corresponding to the work data determination method provided in the above embodiments. Since the principle of the device in this application is similar to the work data determination method in the above embodiments of this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0069] Please see Figure 3 , Figure 3 A schematic diagram of the structure of a job data determination device provided in an embodiment of this application is shown. Figure 3 As shown, the device includes:

[0070] The coordinate system creation module 700 is used to create a unified coordinate system. The X-axis of the unified coordinate system is the direction of movement of the working point of the scraper machine. A marker rod is set on the lower surface of the scraper machine.

[0071] The first coordinate determination module 710 is used to scan the material pile using a 3D scanning device to obtain a set of scan points of the material pile in a unified coordinate system. The set of scan points includes multiple scan points and their corresponding first coordinates.

[0072] The second coordinate determination module 720 is used to adjust the rotation angle of the scraper machine. For each rotation angle, the second coordinate of the position of the marker rod in a unified coordinate system is determined by the 3D scanning device.

[0073] The scraper rotation center determination module 730 is used to determine the coordinates of the scraper rotation center based on the rotation angle and the second coordinates corresponding to the position of the marker rod under the rotation angle. The rotation angle represents the slope angle formed by the position of the marker rod and the scraper rotation center in the YOZ plane.

[0074] The rotation angle determination module 740 is used to determine the rotation angle corresponding to each scanning point based on multiple scanning points and their corresponding first coordinates and the coordinates of the scraper rotation center.

[0075] The operation data determination module 750 is used to determine the target operation point and reversal position of the scraper conveyor based on the rotation angle corresponding to each scanning point.

[0076] Based on the same application concept, please refer to Figure 4 , Figure 4 This diagram illustrates the structure of an electronic device according to an embodiment of this application. The electronic device 800 includes a processor 810, a memory 820, and a bus 830. The memory 820 stores machine-readable instructions executable by the processor 810. When the electronic device 800 is running, the processor 810 and the memory 820 communicate via the bus 830. The machine-readable instructions are executed by the processor 810 to perform the steps of the job data determination method provided in any of the above embodiments.

[0077] Based on the same concept, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when run by a processor, executes the steps of the job data determination method provided in the above embodiments.

[0078] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division; in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0079] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0080] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0081] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0082] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for determining work data, wherein the work data includes the working point and turning point of a scraper conveyor, characterized in that, The method includes: A unified coordinate system is created, wherein the X-axis of the unified coordinate system is the direction of movement of the working point of the scraper machine, and a marker rod is set on the lower surface of the scraper machine; The material pile is scanned by a 3D scanning device to obtain a set of scan points of the material pile in a unified coordinate system. The set of scan points includes multiple scan points and their corresponding first coordinates. Adjust the rotation angle of the scraper machine, and for each rotation angle, use a 3D scanning device to determine the second coordinate of the position of the marker rod in a unified coordinate system; Based on the rotation angle and the second coordinate corresponding to the position of the marker rod under the rotation angle, the coordinates of the scraper rotation center are determined. The rotation angle represents the slope angle formed by the position of the marker rod and the scraper rotation center in the YOZ plane. Based on multiple scanning points and their corresponding first coordinates and the coordinates of the scraper rotation center, the rotation angle corresponding to each scanning point is determined; Based on the rotation angle corresponding to each scanning point, the target working point and the turning point of the scraper machine are determined; The step of determining the coordinates of the scraper rotation center based on the rotation angle and the second coordinate corresponding to the position of the marker rod at the rotation angle includes: For each rotation angle, perform the following processing: Based on the second coordinates corresponding to the marker rod at the rotation angle, create a slope expression for the position of the marker rod and the position of the scraper rotation center in the YOZ plane; Perform inverse trigonometric function processing on the slope expression to determine the processing result; Based on the correspondence between the processing results and the rotation angle, a matrix equation is created between the rotation angle, the position of the marker rod, and the position of the scraper rotation center. The coordinates of the scraper rotation center are obtained by solving the matrix equation.

2. The method according to claim 1, characterized in that, The coordinates of the scraper's rotation center are determined using the following matrix equation: in, Indicates the first One rotation angle, This indicates the Z-axis coordinate of the scraper's rotation center. This indicates the Y-axis coordinate of the scraper's rotation center. Indicates the first Marker rod at each rotation angle The Z-axis coordinate of the location is Indicates the first Marker rod at each rotation angle The Y-axis coordinate corresponding to the location.

3. The method according to claim 2, characterized in that, The center coordinates of the scraper are determined using the following method: Substitute each rotation angle and the second coordinate of the marker rod at each rotation angle into the matrix equation to obtain the multidimensional matrix equation. The optimal solution of the multidimensional matrix equation is obtained to get the Z-axis and Y-axis coordinates corresponding to the center of the scraper.

4. The method according to claim 1, characterized in that, The steps for determining the target working point of the scraper machine based on the rotation angle corresponding to each scanning point include: The scanning point corresponding to the maximum rotation angle is determined as the target scanning point; The target working point of the scraper conveyor is determined based on the Z-axis coordinate and maximum rotation angle corresponding to the target scanning point.

5. The method according to claim 1, characterized in that, The steps for determining the reversal position of the scraper machine based on the rotation angle corresponding to each scanning point include: Based on the maximum rotation angle, determine the upper limit and lower limit of the rotation angle operation. The lower limit of the rotation angle operation is the difference between the maximum rotation angle and the preset angle threshold, and the upper limit of the rotation angle operation is the sum of the maximum rotation angle and the preset angle threshold. The X-coordinate of the scanning point corresponding to the upper limit of the rotation angle is determined as the first reversal position of the scraper conveyor, and the X-coordinate of the scanning point corresponding to the lower limit of the rotation angle is determined as the second reversal position of the scraper conveyor.

6. A device for determining work data, characterized in that, The device includes: The coordinate system creation module is used to create a unified coordinate system, wherein the X-axis of the unified coordinate system is the direction of movement of the working point of the scraper machine, and a marker rod is set on the lower surface of the scraper machine; The first coordinate determination module is used to scan the material pile using a 3D scanning device to obtain a set of scan points of the material pile in a unified coordinate system. The set of scan points includes multiple scan points and their corresponding first coordinates. The second coordinate determination module is used to adjust the rotation angle of the scraper machine. For each rotation angle, the second coordinate of the position of the marker rod in a unified coordinate system is determined by a 3D scanning device. The scraper rotation center determination module is used to determine the coordinates of the scraper rotation center based on the rotation angle and the second coordinates corresponding to the position of the marker rod under the rotation angle. The rotation angle represents the slope angle formed by the position of the marker rod and the scraper rotation center in the YOZ plane. The rotation angle determination module is used to determine the rotation angle corresponding to each scanning point based on multiple scanning points, their corresponding first coordinates, and the coordinates of the scraper rotation center. The operation data determination module is used to determine the target operation point and reversal position of the scraper machine based on the rotation angle corresponding to each scanning point; The scraper rotation center determination module is further used for: For each rotation angle, perform the following processing: Based on the second coordinates corresponding to the marker rod at the rotation angle, create a slope expression for the position of the marker rod and the position of the scraper rotation center in the YOZ plane; Perform inverse trigonometric function processing on the slope expression to determine the processing result; Based on the correspondence between the processing results and the rotation angle, a matrix equation is created between the rotation angle, the position of the marker rod, and the position of the scraper rotation center. The coordinates of the scraper rotation center are obtained by solving the matrix equation.

7. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. The machine-readable instructions are executed by the processor to perform the steps of the job data determination method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the job data determination method as described in any one of claims 1 to 5.

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