Computer vision-based automatic ore-drawing control method and system

Abstract

The application provides a computer vision-based automatic ore-drawing control method and system, which collects real-time images of a drawing bin, identifies whether a target vehicle exists in the real-time images, generates a detection frame based on the target vehicle in the case where the target vehicle exists in the real-time images, and determines whether a center point of the detection frame is located in a center region in the case where the target vehicle is in a stopped state; wherein the center region is a preset region in the real-time images, and ore is drawn to the target vehicle by a ore-drawing machine in the case where the center point is located in the center region, so that the artificial cost can be reduced, the mineral loss in the ore-drawing process can be reduced, and the ore-drawing efficiency can be improved.

Description

Technical Field

[0001] This invention relates to the field of automatic ore discharge control technology, and in particular to an automatic ore discharge control method and system based on computer vision. Background Technology

[0002] Ore discharge machines are common industrial machines in the mining industry, ideal for discharging, feeding, or loading ore and other materials. Currently, ore discharge machines in mines generally only have two states: powered on for discharging and powered off and stationary. This requires on-site personnel and equipment control personnel in the dispatch room to constantly communicate via telephone or walkie-talkie to determine if the transport vehicle is properly positioned before manually restarting the discharge machine. If it's necessary to evenly distribute the ore in the truck bed, the equipment control personnel in the dispatch room need to stop the discharge machine based on the screen, then notify the on-site personnel, who in turn instruct the driver to move the vehicle. After moving, it's necessary to check again to ensure proper positioning before resuming discharge. The discharge machine itself lacks the function to automatically discharge based on the transport vehicle's status, nor does it provide any means to determine if the transport vehicle is properly positioned or offer corrective assistance.

[0003] Automated ore feeding technology based on UWB or other sensors involves installing UWB terminals or other sensors on transport vehicles to determine whether to automatically feed ore based on the distance between the transport vehicle and the ore feeding machine. Disadvantages include: the need to install sensor equipment on all transport vehicles, resulting in high costs; the possibility of mandatory equipment installation if a third-party transport team is involved; the sensors only provide distance information, not vehicle angle information, meaning that even if the distance is correct, a deviation in angle could cause ore to fall directly to the ground; and the sensor terminals installed on the transport vehicles require power, necessitating manual charging when the battery is low, making operation cumbersome. Summary of the Invention

[0004] To address the aforementioned problems in the prior art, this invention provides an automatic ore-discharging control method and system based on computer vision, which can reduce labor costs, reduce mineral loss during the ore-discharging process, and improve ore-discharging efficiency.

[0005] To achieve the above-mentioned objectives, the technical solution adopted by this invention is as follows:

[0006] This application provides an automatic ore-discharging control method based on computer vision, including:

[0007] Collect real-time images of the material discharge hopper;

[0008] Identify whether a target vehicle exists in the real-time image;

[0009] If a target vehicle is present in the real-time image, a detection bounding box is generated based on the target vehicle;

[0010] When the target vehicle is stationary, determine whether the center point of the detection box is located in the central region; wherein, the central region is a preset region in the real-time image;

[0011] When the center point is located in the central area, the ore discharge machine is controlled to discharge material to the target vehicle.

[0012] In some embodiments, generating a detection box based on the target vehicle when the target vehicle is present in the real-time image includes:

[0013] Identify the rear of the target vehicle;

[0014] A detection box is generated based on the rear of the target vehicle.

[0015] In some embodiments, including:

[0016] Based on the detection frame, determine the coordinate information of the center point of the detection frame;

[0017] Based on the coordinate information of the center point, analyze whether the time during which the coordinate information of the center point remains unchanged in the real-time image exceeds a preset time.

[0018] If the preset time is exceeded, the target vehicle is determined to stop moving.

[0019] In some embodiments, determining the coordinate information of the center point of the detection frame based on the detection frame includes:

[0020] Obtain the coordinate information of the two opposite corners of the detection frame;

[0021] Based on the coordinate information of the two opposite corners of the detection frame, the coordinate information of the center point of the detection frame is calculated.

[0022] In some embodiments, including:

[0023] If the center point of the detection frame is not located in the central region, a first prompt message is sent.

[0024] In some embodiments, the real-time image includes several material feeding areas, each corresponding to a feeding section of the target vehicle. Controlling the ore feeder to feed material to the target vehicle when the center point is located in the central area includes:

[0025] If the center point is located in the central region, determine whether the detection frame overlaps with at least one feeding area;

[0026] If the detection frame overlaps with at least one feeding area, determine whether the feeding area corresponding to the feeding machine has been fed. If not, control the feeding machine to release a preset threshold of material to the feeding section corresponding to the feeding area and send a second prompt message. If the material has been fed, send a second prompt message.

[0027] Repeat the above steps until the ore feeder has fed material to all the feeding sections corresponding to the feeding areas.

[0028] In some embodiments, including:

[0029] When the ore feeder has fed material to all the feeding sections corresponding to the feeding areas, a third prompt message is sent.

[0030] Embodiments of this application provide a computer vision-based automatic ore-feeding control system, comprising:

[0031] The data acquisition module is used to acquire real-time images of the material discharge hopper;

[0032] The identification module is used to identify whether a target vehicle exists in the real-time image;

[0033] The generation module is used to generate a detection box based on the target vehicle when the target vehicle is present in the real-time image;

[0034] The determination module is used to determine whether the center point of the detection box is located in the central region when the target vehicle is in a stopped state; wherein the central region is a preset region in the real-time image;

[0035] The control module is used to control the ore feeder to feed material to the target vehicle when the center point is located in the central area.

[0036] In some embodiments, the real-time image includes several material feeding areas, each corresponding to a material feeding section of the target vehicle. The control module includes:

[0037] A determining unit is configured to determine whether the detection frame overlaps with at least one feeding area when the center point is located in the central region;

[0038] The control unit is used to determine whether the feeding area corresponding to the ore feeder has been fed when the detection frame overlaps with at least one feeding area. If no material has been fed, the control unit controls the ore feeder to release a preset threshold of material to the feeding section corresponding to the feeding area and sends a second prompt message. If material has been fed, the control unit sends a second prompt message, wherein the second prompt message is used to prompt the driver to adjust the position of the target vehicle.

[0039] The repeating unit is used to repeat the above-mentioned determining unit to the control unit until the ore feeder has fed material to the feeding sections corresponding to all feeding areas.

[0040] The beneficial effects of this invention are as follows:

[0041] By acquiring real-time images of the ore discharge hopper, the presence of a target vehicle in the real-time images is identified. If a target vehicle is present in the real-time images, a detection frame is generated based on the target vehicle. If the target vehicle is stationary, the center point of the detection frame is determined to be within the central region. The central region is a preset area in the real-time images. If the center point is within the central region, the ore discharge machine is controlled to discharge ore to the target vehicle. This reduces labor costs, minimizes mineral loss during the ore discharge process, and improves ore discharge efficiency. Attached Figure Description

[0042] Figure 1 A schematic diagram illustrating the implementation process of an automatic ore-discharging control method based on computer vision, provided in an embodiment of this application;

[0043] Figure 2 A schematic diagram of the framework of an automatic ore-feeding control system based on computer vision provided for an embodiment of this application;

[0044] Figure 3 This is a schematic diagram of the composition structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0045] The specific embodiments of the present invention are described below to enable those skilled in the art to understand the present invention. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0046] This application provides an automatic ore-discharging control method based on computer vision, such as... Figure 1 As shown, it includes:

[0047] Step S1: Acquire real-time images of the material discharge hopper;

[0048] In the embodiments of this application, a camera can be installed in the feeding hopper to capture real-time images of the feeding hopper, and the captured real-time images can be loaded and displayed through a front-end page.

[0049] Step S2: Identify whether a target vehicle exists in the real-time image;

[0050] In the embodiments of this application, existing image recognition algorithms can be used to identify whether a target vehicle exists in a real-time image. For example, the real-time image is compared with a preset image, the similarity between the real-time image and the preset image is calculated, and the presence of a target vehicle in the real-time image is determined based on the similarity.

[0051] Step S3: If a target vehicle exists in the real-time image, generate a detection box based on the target vehicle;

[0052] In the embodiments of this application, when a target vehicle is present in the real-time image, a detection box is generated based on the target vehicle. For example, the rear view of the target vehicle can be used as the target view, and a detection box that frames the target view is generated based on the target view. The detection box moves with the target view in the real-time image.

[0053] Step S4: When the target vehicle is stationary, determine whether the center point of the detection box is located in the central region; wherein, the central region is a preset region in the real-time image;

[0054] In the embodiments of this application, a center point is displayed in the detection frame. When the target vehicle stops moving, it is determined whether the center point is located within the central area. If the center point is located within the central area, it indicates that the parking angle and distance of the target vehicle are appropriate. Conversely, if the center point is not located within the central area, it indicates that the parking angle and / or distance of the target vehicle are inappropriate. In addition, the offset or distance of the target vehicle can be obtained by the offset of the center point relative to the central area, which facilitates quick adjustment by the user and improves adjustment efficiency.

[0055] Step S5: When the center point is located in the central area, control the ore feeding machine to feed the material to the target vehicle.

[0056] In the embodiments of this application, when the midpoint of the detection frame is located in the central area, it indicates that the discharge port of the ore feeder corresponds to the target vehicle compartment. Controlling the ore feeder to feed the target vehicle can ensure that the ore feeder puts the ore into the target vehicle compartment and avoids some of the ore falling outside the target vehicle compartment when the ore feeder feeds the ore.

[0057] In summary, by acquiring real-time images of the ore discharge hopper and identifying whether a target vehicle exists in the real-time images, a detection frame is generated based on the target vehicle when it is present. When the target vehicle is stationary, the center point of the detection frame is determined to be within a central region, where the central region is a preset area in the real-time images. When the center point is within the central region, the ore discharge machine is controlled to discharge ore to the target vehicle. This reduces labor costs, minimizes mineral loss during the ore discharge process, and improves ore discharge efficiency.

[0058] In some embodiments, step S3 includes:

[0059] Step S31: Identify the rear of the target vehicle;

[0060] Step S32: Generate a detection box based on the rear of the target vehicle.

[0061] In the embodiments of this application, the rear of the target vehicle is identified based on the target vehicle, and then a detection box is generated based on the rear of the target vehicle. The detection box is adjusted in real time according to the changes of the rear of the target vehicle in the real-time image.

[0062] In some embodiments, including:

[0063] Step S100: Based on the detection frame, determine the coordinate information of the center point of the detection frame;

[0064] Step S200: Based on the coordinate information of the center point, analyze whether the time during which the coordinate information of the center point remains unchanged in the real-time image exceeds a preset time;

[0065] Step S300: If the preset time is exceeded, the target vehicle is determined to stop moving.

[0066] In the embodiments of this application, before determining whether the center point of the detection frame is located in the central region, it is necessary to determine whether the target vehicle has stopped moving, that is, whether the target vehicle has stopped at the designated position. By analyzing the coordinate information of the center point of the detection frame, it is determined whether the time during which the coordinate information of the center point has not changed in the real-time image exceeds a preset time. If the time during which the center point has not changed exceeds the preset time, it indicates that the target vehicle has stopped moving. At this time, it can be determined whether the center point of the detection frame is located in the central region, thus avoiding misjudgment that could lead to the ore feeding machine discharging material.

[0067] In some embodiments, step S100 includes:

[0068] Step S1001: Obtain the coordinate information of the two opposite corners of the detection frame;

[0069] Step S1002: Based on the coordinate information of the two diagonals of the detection frame, calculate the coordinate information of the center point of the detection frame.

[0070] In the embodiments of this application, the detection box is displayed as a square box in the real-time image. A coordinate system can be constructed in the real-time image. Based on the coordinate information of the two opposite corners of the square box, the coordinate information of the center point can be calculated. For example, the coordinates of the upper left corner are assumed to be (x1, y1), and the coordinates of the lower right corner are assumed to be (x2, y2). Then the coordinates of the center point are ((x1+x2) / 2, (y1+y2) / 2).

[0071] In some embodiments, including:

[0072] Step S6: If the center point of the detection frame is not located in the central area, send a first prompt message.

[0073] In the embodiments of this application, when the center point of the detection frame is not located in the central area, a first prompt message is sent to facilitate the user to adjust the position of the target vehicle according to the first prompt message. The first prompt message can be displayed on a screen and / or broadcast by a voice player.

[0074] In some embodiments, the real-time image includes several material feeding areas, each corresponding to a material feeding section of the target vehicle. Step S5 includes:

[0075] Step S51: If the center point is located in the central region, determine whether the detection frame overlaps with at least one feeding area;

[0076] Step S52: If the detection frame overlaps with at least one feeding area, determine whether the feeding area corresponding to the feeding machine has been fed. If not, control the feeding machine to release a preset threshold of material to the feeding section corresponding to the feeding area and send a second prompt message. If the material has been fed, send a second prompt message.

[0077] Step S53: Repeat the above steps until the ore feeder has fed material to all the feeding sections corresponding to the feeding areas.

[0078] In the embodiments of this application, in the prior art, when ore is fed to the target vehicle by a ore feeder, the ore feeder cannot evenly distribute the ore into the target vehicle's compartment, often requiring manual assistance to achieve even distribution. This application sets several feeding areas on the real-time image, with each feeding area corresponding to a feeding segment of the target vehicle. The feeding segment is divided along the length of the target vehicle's compartment, and the target vehicle's compartment can be divided into multiple feeding segments as needed. When the detection frame overlaps with at least one feeding area, it indicates that the ore feeder's feeding port corresponds to one of the feeding segments. It is understood that even when multiple feeding areas overlap with the detection frame, the ore feeder's feeding port only corresponds to one feeding segment; that is, the positional relationship between the feeding area corresponding to that feeding segment and the detection frame is fixed. Therefore, the feeding areas can be distinguished by numbering them or assigning different colors, and the position of the feeding area within the detection frame can indicate which feeding segment the ore feeder corresponds to. After the material feeding section is completed, the driver adjusts the target vehicle to move forward or backward. With the center point in the central area, the system checks whether the feeding area corresponding to the ore feeder has been fed. If not, the ore feeder releases a preset threshold of material into the feeding section corresponding to that area. Upon completion of feeding or detection of feeding, a second prompt is sent, instructing the driver to adjust the target vehicle's position. This second prompt can be displayed on a screen and / or broadcast via a voice player. The feeding system records feeding information for the feeding areas corresponding to the ore feeder. Comparing these feeding areas with the information stored in the database determines whether feeding has been done. This process is repeated until the ore feeder releases the preset threshold of material into all feeding sections corresponding to all feeding areas. Using a segmented feeding method allows for even distribution of material across the vehicle's cargo compartment by the ore feeder, eliminating the need for manual assistance and improving feeding efficiency.

[0079] In some embodiments, including:

[0080] Step S54: When the ore feeder has fed material to all the feeding sections corresponding to the feeding areas, send a third prompt message.

[0081] In the embodiments of this application, when the ore feeder has fed material to all feeding sections corresponding to all feeding areas, a third prompt message is sent to facilitate the user's departure from the feeding hopper based on the third prompt message. The third prompt message can be displayed on a screen and / or broadcast via a voice player. It is understood that the feeding system can record feeding information for the feeding areas corresponding to the ore feeder, and based on this information, it can be determined whether the ore feeder has fed material to the feeding sections corresponding to all feeding areas.

[0082] Based on the foregoing embodiments, this application provides an automatic ore-draining control system based on computer vision. The various modules and units included in the device can be implemented by a processor in a computer device; of course, they can also be implemented by specific logic circuits. In the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA), etc.

[0083] Embodiments of this application provide an automatic ore-discharging control system based on computer vision, such as... Figure 2 As shown, it includes:

[0084] The data acquisition module is used to acquire real-time images of the material discharge hopper;

[0085] The identification module is used to identify whether a target vehicle exists in the real-time image;

[0086] The generation module is used to generate a detection box based on the target vehicle when the target vehicle is present in the real-time image;

[0087] The determination module is used to determine whether the center point of the detection box is located in the central region when the target vehicle is in a stopped state; wherein the central region is a preset region in the real-time image;

[0088] The control module is used to control the ore feeder to feed material to the target vehicle when the center point is located in the central area.

[0089] In some embodiments, the real-time image includes several material feeding areas, each corresponding to a material feeding section of the target vehicle. The control module includes:

[0090] A determining unit is configured to determine whether the detection frame overlaps with at least one feeding area when the center point is located in the central region;

[0091] The control unit is used to determine whether the feeding area corresponding to the ore feeder has been fed when the detection frame overlaps with at least one feeding area. If no material has been fed, the control unit controls the ore feeder to release a preset threshold of material to the feeding section corresponding to the feeding area and sends a second prompt message. If material has been fed, the control unit sends a second prompt message, wherein the second prompt message is used to prompt the driver to adjust the position of the target vehicle.

[0092] The repeating unit is used to repeat the above-mentioned determining unit to the control unit until the ore feeder has fed material to the feeding sections corresponding to all feeding areas.

[0093] In some embodiments, the generation module includes:

[0094] An identification unit is used to identify the rear of the target vehicle;

[0095] The generation unit is used to generate a detection box based on the rear of the target vehicle.

[0096] In some embodiments, including:

[0097] The second determining module is used to determine the coordinate information of the center point of the detection frame based on the detection frame;

[0098] The analysis module is used to analyze, based on the coordinate information of the center point, whether the time during which the coordinate information of the center point remains unchanged in the real-time image exceeds a preset time.

[0099] The third determining module is used to determine that the target vehicle stops moving if the preset time is exceeded.

[0100] In some embodiments, the second determining module includes:

[0101] The acquisition unit is used to acquire the coordinate information of the two opposite corners of the detection box;

[0102] The calculation unit is used to calculate the coordinate information of the center point of the detection frame based on the coordinate information of the two diagonals of the detection frame.

[0103] In some embodiments, including:

[0104] The first prompt module is used to send a first prompt message when the center point of the detection frame is not located in the central area.

[0105] In some embodiments, including:

[0106] The second prompt module is used to send a third prompt message when the ore feeder has fed material to all the feeding sections corresponding to the feeding areas.

[0107] It should be noted that, in the embodiments of this application, if the above-described control method is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, or the part that contributes to the prior art, 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 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), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any specific hardware and software combination.

[0108] Accordingly, this application provides a storage medium storing a computer program thereon, characterized in that the computer program, when executed by a processor, implements the steps in the control method provided in the above embodiments.

[0109] This application provides an electronic device; Figure 3 This is a schematic diagram of the composition structure of the electronic device provided in the embodiments of this application, such as... Figure 3 As shown, the electronic device 100 includes: a processor 101, at least one communication bus 102, a user interface 103, at least one external communication interface 104, and a memory 105. The communication bus 102 is configured to enable communication between these components. The user interface 103 may include a display screen, and the external communication interface 104 may include standard wired and wireless interfaces. The processor 101 is configured to execute a program of a control method stored in the memory to implement the steps of the control method provided in the above embodiments.

[0110] It should be noted that the descriptions of the storage media and electronic device embodiments above are similar to the descriptions of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the storage media and device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0111] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0112] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, object, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, object, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, object, or apparatus that includes that element.

[0113] In the several embodiments provided in this application, it should be understood that the disclosed 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, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0114] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0115] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0116] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0117] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to the prior art, 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 controller to execute all or part 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 mobile storage devices, ROMs, magnetic disks, or optical disks.

[0118] Those skilled in the art will understand that although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention. Clearly, those skilled in the art can make various alterations and modifications to the invention without departing from its spirit and scope. Thus, if these modifications and modifications of the invention fall within the scope of the machine equivalents of the claims, the invention also intends to include these modifications and modifications.

Claims

1. An automatic ore-discharging control method based on computer vision, characterized in that, include: Step S1: Acquire real-time images of the material discharge hopper; Step S2: Identify whether a target vehicle exists in the real-time image; Step S3: If a target vehicle exists in the real-time image, a detection box is generated based on the target vehicle; Step S4: When the target vehicle is in a stopped state, determine whether the center point of the detection box is located in the central region; wherein, the central region is a preset region in the real-time image; Step S5: When the center point is located in the central area, control the ore discharge machine to discharge material to the target vehicle; The real-time image includes several material feeding areas, each corresponding to a feeding section of the target vehicle. When the center point is located within the central area, the ore feeder is controlled to feed material onto the target vehicle, including: Step S51: If the center point is located in the central region, determine whether the detection frame overlaps with at least one feeding area; Step S52: If the detection frame overlaps with at least one feeding area, determine whether the feeding area corresponding to the feeding machine has been fed. If not, control the feeding machine to release a preset threshold of material to the feeding section corresponding to the feeding area and send a second prompt message. If the material has been fed, send a second prompt message. Step S53: Repeat steps S51 and S52 until the ore feeder has fed material to all the feeding sections corresponding to the feeding areas.

2. The automatic ore-discharging control method based on computer vision according to claim 1, characterized in that, If a target vehicle is present in the real-time image, a detection bounding box is generated based on the target vehicle, including: Identify the rear of the target vehicle; A detection box is generated based on the rear of the target vehicle.

3. The automatic ore-discharging control method based on computer vision according to claim 1, characterized in that, include: Based on the detection frame, determine the coordinate information of the center point of the detection frame; Based on the coordinate information of the center point, analyze whether the time during which the coordinate information of the center point remains unchanged in the real-time image exceeds a preset time. If the preset time is exceeded, the target vehicle is determined to stop moving.

4. The automatic ore-discharging control method based on computer vision according to claim 3, characterized in that, Based on the detection frame, the coordinate information of the center point of the detection frame is determined, including: Obtain the coordinate information of the two opposite corners of the detection frame; Based on the coordinate information of the two opposite corners of the detection frame, the coordinate information of the center point of the detection frame is calculated.

5. The automatic ore-discharging control method based on computer vision according to claim 1, characterized in that, include: If the center point of the detection frame is not located in the central region, a first prompt message is sent.

6. The automatic ore-discharging control method based on computer vision according to claim 1, characterized in that, include: When the ore feeder has fed material to all the feeding sections corresponding to the feeding areas, a third prompt message is sent.

7. An automatic ore-feeding control system based on computer vision, characterized in that, include: The data acquisition module is used to acquire real-time images of the material discharge hopper; The identification module is used to identify whether a target vehicle exists in the real-time image; The generation module is used to generate a detection box based on the target vehicle when the target vehicle is present in the real-time image; The determination module is used to determine whether the center point of the detection box is located in the central region when the target vehicle is in a stopped state; wherein the central region is a preset region in the real-time image; The control module is used to control the ore feeder to feed material to the target vehicle when the center point is located in the central area; The real-time image includes several material feeding areas, each corresponding to a material feeding section of the target vehicle. The control module includes: A determining unit is configured to determine whether the detection frame overlaps with at least one feeding area when the center point is located in the central region; The control unit is used to determine whether the feeding area corresponding to the ore feeder has been fed when the detection frame overlaps with at least one feeding area. If no material has been fed, the control unit controls the ore feeder to release a preset threshold of material to the feeding section corresponding to the feeding area and sends a second prompt message. If material has been fed, the control unit sends a second prompt message, wherein the second prompt message is used to prompt the driver to adjust the position of the target vehicle. The repeating unit is used to repeat the above-mentioned determining unit to the control unit until the ore feeder has fed material to the feeding sections corresponding to all feeding areas.

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