Method and device for predicting mining orientation of mining equipment

Abstract

The invention discloses a method and a device for predicting the mining orientation of mining equipment. The method comprises the steps that the boundary of a loading area where mining equipment is located is obtained, and the boundary is composed of edges composed of target boundary feature points meeting specified conditions; determining a reference edge and / or an adjacent edge from a boundary of the loading area on the basis of a reference position of the mining equipment in the loading area, the reference edge being an edge in the boundary of the loading area having a distance from the reference position less than a distance threshold value and the adjacent edge being an edge adjacent to the reference edge in the boundary of the loading area, the included angle between the adjacent edge and the reference edge in the loading area is smaller than a first angle threshold value; and predicting the mining orientation of the mining equipment based on the orientation related information of the reference edge and / or the orientation related information of the adjacent edge. According to the invention, the technical problem of unstable quality of determining the mining orientation of the mining equipment depending on manual work in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a method and device for predicting the mining direction of mining equipment. Background Art

[0002] At present, in the loading area of ​​open-pit mines, the mining direction of mining equipment usually relies on manual rotation of the bucket direction to obtain it. However, due to the different rotation times of the buckets of different types of mining equipment, especially large-scale mining equipment which usually takes a long time to rotate the mechanical arm, the process of manually calibrating the mining direction is time-consuming and laborious, which reduces the operating efficiency. In addition, due to the different understandings of the mining direction by different operators, different mining directions on the same operating platform have different effects on the operating efficiency and mining quality. Such human differences lead to unstable quality of the mining direction, which in turn affects the overall operating effect.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present invention provide a method and device for predicting the mining direction of a mining device, so as to at least solve the technical problem in the related art that the quality of the mining direction of the mining device that is manually determined is unstable.

[0005] According to one aspect of an embodiment of the present invention, a method for predicting the mining direction of a mining device is provided. The method includes: obtaining the boundary of the loading area where the mining device is located, wherein the boundary is composed of edges composed of target boundary feature points that meet specified conditions; based on the reference position of the mining device in the loading area, determining the reference edge and / or adjacent edge from the boundary of the loading area, wherein the reference edge is an edge in the boundary of the loading area whose distance from the reference position is less than a distance threshold, and the adjacent edge is an edge in the boundary of the loading area that is adjacent to the reference edge, and the angle between the adjacent edge and the reference edge in the loading area is less than a first angle threshold; based on the orientation-related information of the reference edge and / or the orientation-related information of the adjacent edge, predicting the mining direction of the mining device.

[0006] Optionally, based on the orientation information of the reference edge and / or the orientation information of the adjacent edge, the mining direction of the mining equipment is predicted, including: in response to the existence of an adjacent edge, determining the vertical direction of the reference edge based on the orientation information of the reference edge; predicting the mining direction of the mining equipment based at least on the angle between the vertical direction of the reference edge and the orientation of the adjacent edge; or, in response to the existence of two adjacent edges, determining the vertical direction of the reference edge based on the orientation information of the reference edge; predicting the mining direction of the mining equipment based at least on the orientations of the two adjacent edges and the vertical direction of the reference edge; or, in response to the absence of an adjacent edge, determining the vertical direction of the reference edge based on the orientation information of the reference edge; predicting the mining direction of the mining equipment based at least on the vertical direction of the reference edge.

[0007] Optionally, the mining direction of the mining equipment is predicted at least based on the angle between the perpendicular direction of the reference edge and the direction of the adjacent edge, including: in response to the angle between the perpendicular direction of the reference edge and the direction of the adjacent edge being less than a second angle threshold, determining the direction of the adjacent edge as the mining direction of the mining equipment, wherein the second angle threshold is less than the first angle threshold; or, in response to the angle between the perpendicular direction of the reference edge and the direction of the adjacent edge being greater than or equal to the second angle threshold, determining the mining direction of the mining equipment based on the length of the adjacent edge.

[0008] Optionally, the mining direction of the mining equipment is determined based on the length of the adjacent edge, including: in response to the length of the adjacent edge being less than a first length threshold, determining the perpendicular direction of the reference edge as the mining direction of the mining equipment; or, in response to the length of the adjacent edge being greater than or equal to the first length threshold, determining the direction of the adjacent edge as the mining direction of the mining equipment.

[0009] Optionally, the mining direction of the mining equipment is predicted based at least on the orientations of two adjacent edges and the direction of the perpendicular to the reference edge, including: in response to the angle between the orientations of the two adjacent edges being less than a second angle threshold, determining the direction of the perpendicular to the reference edge as the mining direction of the mining equipment; or, in response to the angle between the orientations of the two adjacent edges being greater than or equal to the second angle threshold, predicting the mining direction of the mining equipment based on the angles between the orientations of the two adjacent edges and the direction of the perpendicular to the reference edge.

[0010] Optionally, the mining direction of the mining equipment is predicted based on the angles between the orientations of two adjacent edges and the perpendicular direction of the reference edge, respectively, including: in response to the angle between the orientation of an adjacent edge and the perpendicular direction of the reference edge being less than a second angle threshold, determining the orientation of the adjacent edge whose angle with the perpendicular direction of the reference edge is less than the second angle threshold as the mining direction of the mining equipment; or, in response to the angles between the orientations of two adjacent edges and the perpendicular direction of the reference edge being greater than the second angle threshold, predicting the mining direction of the mining equipment based on the lengths of the two adjacent edges.

[0011] Optionally, predicting the mining direction of the mining equipment based on the length of two adjacent edges includes: in response to the lengths of the two adjacent edges being less than a first length threshold, determining the perpendicular direction of the reference edge as the mining direction of the mining equipment; or, in response to the existence of one of the two adjacent edges having a length greater than the first length threshold, determining the direction of the adjacent edge having a length greater than the first length threshold as the mining direction of the mining equipment; or, in response to the lengths of the two adjacent edges being greater than the first length threshold, determining the direction of the adjacent edge with the longest length among the two adjacent edges as the mining direction of the mining equipment.

[0012] Optionally, the mining direction prediction method of the mining equipment also includes: in response to the length of the initial reference edge in the boundary of the loading area being greater than or equal to a second length threshold, and / or the angle between the initial reference edge and the adjacent edge of the initial reference edge being greater than a second angle threshold, determining the initial reference edge as the reference edge, wherein the distance between the initial reference edge and the reference position of the mining equipment is less than the distance threshold, and the second length threshold is less than the first length threshold; or, in response to the length of the initial reference edge in the boundary of the loading area being less than the second length threshold, and the angle between the initial reference edge and the adjacent edge of the initial reference edge being less than the second angle threshold, determining the edge obtained by merging the initial reference edge with the adjacent edge of the initial reference edge as the reference edge.

[0013] Optionally, obtaining the boundary of the loading area where the mining equipment is located includes: thinning the boundary feature points of the loading area to obtain a plurality of thinned boundary feature points; performing convex hull calculation on the plurality of thinned boundary feature points to obtain convex polygon vertices; and determining the boundary of the loading area at least based on the convex polygon vertices, wherein the target boundary feature points include the convex polygon vertices.

[0014] Optionally, thinning out the boundary feature points of the loading area to obtain a plurality of thinned boundary feature points includes: thinning out the boundary feature points of the loading area based on a first thinning threshold to obtain a plurality of boundary feature points after initial thinning; obtaining the convex hull of the plurality of thinned boundary feature points to obtain convex polygon vertices, including: arranging the plurality of boundary feature points after initial thinning in order to form a boundary feature point set, and determining the convex polygon vertices formed by connecting the plurality of boundary feature points after initial thinning; determining adjacent convex polygon vertices in the boundary feature point set based on the arrangement positions of the convex polygon vertices in the boundary feature point set; the method also includes: thinning out the boundary feature points between adjacent convex polygon vertices in the boundary feature point set based on a second thinning threshold to obtain target boundary feature points.

[0015] According to another aspect of an embodiment of the present invention, a path planning method for an autonomous driving vehicle is also provided. The method comprises: predicting the mining direction of the mining equipment according to the mining direction prediction method of the mining equipment; and planning the path of the autonomous driving vehicle according to the predicted mining direction of the mining equipment.

[0016] According to another aspect of an embodiment of the present invention, a device for predicting the mining direction of mining equipment is also provided. The device includes: a thinning unit for obtaining the boundary of the loading area where the mining equipment is located, wherein the boundary is composed of edges composed of target boundary feature points that meet specified conditions; a connection unit for determining a reference edge and / or an adjacent edge from the boundary of the loading area based on a reference position of the mining equipment in the loading area, wherein the reference edge is an edge whose distance from the reference position in the boundary of the loading area is less than a distance threshold, and the adjacent edge is an edge adjacent to the reference edge in the boundary of the loading area, and the angle between the adjacent edge and the reference edge in the loading area is less than a first angle threshold; a determination unit for predicting the mining direction of the mining equipment based on information related to the direction of the reference edge and / or information related to the direction of the adjacent edge.

[0017] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0018] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0019] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0020] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0021] According to another aspect of the embodiments of the present invention, a computer program is further provided. When the computer program is executed by a processor, the methods in the embodiments of the present invention are implemented.

[0022] In an embodiment of the present invention, a boundary of a loading area where a mining device is located is obtained, wherein the boundary is composed of edges composed of target boundary feature points that meet specified conditions; based on a reference position of the mining device in the loading area, a reference edge and / or an adjacent edge is determined from the boundary of the loading area, wherein the reference edge is an edge in the boundary of the loading area whose distance from the reference position is less than a distance threshold, and the adjacent edge is an edge in the boundary of the loading area that is adjacent to the reference edge, and an angle between the adjacent edge and the reference edge in the loading area is less than a first angle threshold; based on information related to the orientation of the reference edge and / or information related to the orientation of the adjacent edge, the mining direction of the mining device is predicted. That is to say, in an embodiment of the present invention, when predicting the mining direction of the mining equipment, the boundary information of the loading area is fully considered, and based on the reference position of the mining equipment in the loading area, the reference edge and / or the adjacent edge is determined from the boundary of the loading area, and then based on the orientation-related information of the reference edge and / or the orientation-related information of the adjacent edge, the mining direction of the mining equipment is automatically predicted without manual determination, thereby reducing errors caused by manual operations and improving the prediction accuracy of the mining direction of the mining equipment, thereby solving the technical problem in the related art that the quality of the mining direction of the mining equipment that relies on manual determination is unstable. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 is a flow chart of a method for predicting the mining direction of a mining device according to an embodiment of the present invention;

[0025] Figure 2 is a flow chart of a path planning method for an autonomous driving vehicle according to an embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of calibration of the excavation direction of an excavator according to an embodiment of the present application;

[0027] Figure 4 It is a schematic diagram of a mining direction prediction device for mining equipment according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] Example 1

[0031] According to an embodiment of the present invention, an embodiment of a method for predicting the mining direction of a mining device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0032] Figure 1 is a flow chart of a method for predicting the mining direction of a mining device according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0033] Step S101, obtaining the boundary of the loading area where the mining equipment is located.

[0034] In the technical solution provided in the above step S101 of the present application, the mining equipment can be used to indicate equipment used for mining such as excavators, the loading area can be used to indicate the loading area of ​​an open-pit mine, and the boundary of the loading area is used to define the scope of the loading area, and the boundary is composed of edges composed of target boundary feature points that meet specified conditions.

[0035] In this embodiment, after obtaining the boundary feature points of the loading area where the mining equipment is located, in order to reduce the amount of data to be processed in the subsequent determination of the mining direction of the mining equipment, the boundary of the loading area can be retained, and multiple boundary feature points of the loading area can be thinned to obtain target boundary feature points, wherein the line connecting the target boundary feature points constitutes the boundary of the loading area. The number of data points is reduced by selectively removing feature points on the boundary of the loading area, while retaining the features of the original shape as much as possible.

[0036] For example, after initially acquiring the boundary feature points of the loading area, the Douglas algorithm can be used to thin out the boundary feature points of the loading area according to a preset thinning threshold, and a plurality of boundary feature points after the initial thinning can be obtained, wherein the connection line of the plurality of boundary feature points after the initial thinning can represent the original shape of the boundary of the loading area. The preset thinning threshold can be 2, that is, the Douglas algorithm can be used to remove the unimportant points in the boundary feature points of the loading area according to the thinning threshold of 2 relative to the overall boundary shape, so as to achieve the purpose of reducing the amount of data of the boundary feature points while retaining the original shape of the boundary of the loading area.

[0037] Optionally, after obtaining multiple boundary feature points after the initial thinning, the multiple boundary feature points after the initial thinning can be arranged in order to obtain a boundary feature point set corresponding to the boundary feature points after the initial thinning. After that, the multiple boundary feature points after the initial thinning are further thinned. For example, the convex hull and the convex hull vertices corresponding to the boundary feature points after the initial thinning can be solved by the Andrew algorithm, wherein the convex hull is used to indicate the convex polygon formed by the connecting lines of the boundary feature points after the initial thinning, and the convex hull vertices are used to indicate each vertex on the convex polygon. After obtaining multiple convex hull vertices on the convex hull, the adjacent convex hull vertices in the boundary feature point set can be determined according to the corresponding positions of each convex hull vertex in the boundary feature point set, and then the boundary feature points between two adjacent convex hull vertices are thinned again using the Douglas algorithm to obtain the target boundary feature points, wherein the thinning threshold set this time can be greater than the first thinning threshold, so as to further optimize the boundary of the loading area, straighten the boundary line of the loading area, remove possible interference points, and make the boundary of the loading area clearer and smoother.

[0038] Optionally, after finally obtaining the thinned boundary feature points, the obtained boundary feature points may be connected in sequence to obtain the boundary of the loading area, wherein the mining equipment is located within the boundary of the loading area.

[0039] In the above step S101, the boundary feature points of the loading area are thinned out multiple times by iterative optimization, so as to achieve the purpose of gradually reducing the number of boundary feature points of the loading area while maintaining the boundary of the loading area, thereby obtaining a simplified boundary of the loading area that retains key features, thereby reducing the complexity of data calculation while maintaining the validity and accuracy of the data.

[0040] Step S102 : determining a reference edge and / or an adjacent edge from a boundary of the loading area based on a reference position of the mining equipment in the loading area.

[0041] In the technical solution provided in the above step S102 of the present application, the reference position of the mining equipment in the loading area is used to indicate the position where the mining equipment will perform the mining operation, the reference edge is an edge in the boundary of the loading area whose distance from the reference position is less than a distance threshold, the adjacent edge is an edge in the boundary of the loading area that is adjacent to the reference edge, and the angle between the adjacent edge and the reference edge in the loading area is less than a first angle threshold.

[0042] In this embodiment, after the reference position of the mining equipment is determined in the loading area, the edge closest to the reference position can be searched in the boundary of the loading area to obtain the reference edge. After that, the adjacent edges on both sides of the reference edge are searched in the boundary of the loading area, and it is determined whether to retain the searched adjacent edges according to the polygonal inner angle between the adjacent edge and the reference edge. Based on this, the adjacent edges of the reference edge finally determined can have one, two or no adjacent edges.

[0043] For example, if the polygonal internal angle between the adjacent edge and the reference edge is less than the first angle threshold, the adjacent edge is retained. Conversely, if the polygonal internal angle between the adjacent edge and the reference edge is greater than the first angle threshold, the polygonal internal angle is deleted, wherein the first angle threshold may be 180 degrees. The reason why only the adjacent edges whose polygonal internal angles with the reference edge are less than the first angle threshold are retained here is that if the polygonal internal angle between the adjacent edge and the reference edge is greater than 180 degrees, it means that the deviation between the adjacent edge and the reference edge is too large and has no reference value. Therefore, 180 degrees is used as the boundary here because the orientation of the adjacent edge whose polygonal internal angle is within 180 degrees is similar to that of the reference edge and has a greater reference value.

[0044] Optionally, if the length of the edge closest to the reference position in the boundary of the loading area is less than a preset length threshold, or the polygonal inner angle of the edge closest to the reference position in the boundary of the loading area and the adjacent edge is less than a second angle threshold, in this case, the edge closest to the reference position in the loading area can be expanded to obtain a reference edge. For example, the edge closest to the reference position and the adjacent edge are merged to obtain a reference edge, which is only an example. The preset length threshold can be 5 meters or 10 meters, which is not specifically limited here, and the second angle threshold is lower than the first angle threshold, for example, the second angle threshold can be 10 degrees, which is only an example, and all kinds of thresholds here can be adjusted according to actual conditions.

[0045] In the above step S102, since the reference position is the position where the mining equipment performs mining operations in the loading area, based on this, the reference position of the mining equipment in the loading area is used as a reference, and the reference edge and the adjacent edge are determined from the boundary of the loading area, which provides a reference for the subsequent determination of the mining direction of the mining equipment and provides the prediction accuracy of the mining direction of the mining equipment.

[0046] Step S103: predicting the mining direction of the mining equipment based on the information related to the direction of the reference edge and / or the information related to the direction of the adjacent edge.

[0047] In the technical solution provided in the above step S103 of the present application, the information related to the orientation of the reference edge can be used to indicate the orientation of the reference edge or the vertical direction of the reference edge, and the information related to the orientation of the adjacent edge can be used to indicate the orientation of the adjacent edge. After determining the information related to the orientation of the reference edge and the information related to the orientation of the adjacent edge, the mining direction of the mining equipment can be predicted based on the information related to the orientation of the reference edge and / or the information related to the orientation of the adjacent edge.

[0048] In this embodiment, since the reference edge may have one, two, or no adjacent edges, based on this, when there is one adjacent edge, the mining direction of the mining equipment can be predicted based on at least the orientation-related information of the reference edge and the orientation-related information of one adjacent edge. When there are two adjacent edges, the mining direction of the mining equipment can be predicted based on at least the orientation-related information of the reference edge and the orientation-related information of the two adjacent edges. When there are no adjacent edges, the mining direction of the mining equipment can be predicted based only on the orientation-related information of the reference edge, wherein the predicted mining direction includes at least the following two situations: consistent with the vertical direction of the reference edge or consistent with the orientation of the adjacent edge.

[0049] In the above steps S101 to S103, when predicting the mining direction of the mining equipment, the boundary information of the loading area is fully considered, and based on the reference position of the mining equipment in the loading area, the reference edge and / or the adjacent edge is determined from the boundary of the loading area, and then according to the orientation-related information of the reference edge and / or the orientation-related information of the adjacent edge, the mining direction of the mining equipment is automatically predicted without manual determination, thereby reducing errors in manual operation and improving the prediction accuracy of the mining direction of the mining equipment, thereby solving the technical problem in the related art that the quality of the mining direction of the mining equipment that relies on manual determination is unstable.

[0050] Next, the mining direction prediction method of the mining equipment is further introduced.

[0051] As an optional implementation, step S103, predicting the mining direction of the mining equipment based on the orientation information of the reference edge and / or the orientation information of the adjacent edge, includes: in response to the existence of an adjacent edge, determining the vertical direction of the reference edge based on the orientation information of the reference edge; predicting the mining direction of the mining equipment based on at least the angle between the vertical direction of the reference edge and the orientation of the adjacent edge; or, in response to the existence of two adjacent edges, determining the vertical direction of the reference edge based on the orientation information of the reference edge; predicting the mining direction of the mining equipment based on at least the orientations of the two adjacent edges and the vertical direction of the reference edge; or, in response to the absence of an adjacent edge, determining the vertical direction of the reference edge based on the orientation information of the reference edge; predicting the mining direction of the mining equipment based at least on the orientations of the two adjacent edges and the vertical direction of the reference edge.

[0052] In this embodiment, when there is an adjacent edge, the direction of the vertical line of the reference edge can be determined based on at least the orientation information of the reference edge, and then the excavation orientation of the excavation equipment can be predicted according to the angle between the vertical line of the reference edge and the orientation of the adjacent edge. That is, the angle between the vertical line of the reference edge and the orientation of the adjacent edge is used as the initial judgment factor to predict the excavation orientation of the excavation equipment.

[0053] Optionally, when there are two adjacent edges, the direction of the vertical line of the reference edge can be determined based at least on the orientation information of the reference edge, and the mining direction of the mining equipment can be predicted based at least on the orientation of the two adjacent edges and the direction of the vertical line of the reference edge. That is, the mining direction of the mining equipment is predicted using the orientation of the two adjacent edges and the direction of the vertical line of the reference edge as initial judgment factors.

[0054] Optionally, in the absence of an adjacent edge, the mining direction of the mining equipment may be predicted based only on the orientation-related information of the reference edge. For example, the direction of a vertical line of the reference edge may be determined based on the orientation information of the reference edge, and then the mining direction of the mining equipment may be predicted based at least on the direction of the vertical line of the reference edge, wherein in this case, the mining direction of the mining equipment may be consistent with the direction of the vertical line of the reference edge.

[0055] In the above steps, a variety of different situations are fully considered. In different situations, the mining direction of the mining equipment is predicted based on the information related to the orientation of the reference edge and / or the information related to the orientation of the adjacent edge. By considering different situations, the prediction accuracy of the mining direction of the mining equipment is improved.

[0056] Next, the specific process of predicting the mining direction of mining equipment under different situations is introduced.

[0057] As an optional implementation, the mining direction of the mining equipment is predicted based at least on the angle between the perpendicular direction of the reference edge and the direction of the adjacent edge, including: in response to the angle between the perpendicular direction of the reference edge and the direction of the adjacent edge being less than a second angle threshold, determining the direction of the adjacent edge as the mining direction of the mining equipment, wherein the second angle threshold is less than the first angle threshold; or, in response to the angle between the perpendicular direction of the reference edge and the direction of the adjacent edge being greater than or equal to the second angle threshold, determining the mining direction of the mining equipment based on the length of the adjacent edge.

[0058] In this embodiment, as can be seen from the above description, when there is an adjacent edge, the mining direction of the mining equipment is predicted based on at least the angle between the vertical direction of a reference edge and the direction of the adjacent edge. For example, the second angle threshold can be used as a reference to determine the comparison result between the angle between the vertical direction of the reference edge and the direction of the adjacent edge and the second angle threshold, and then the mining direction of the mining equipment is determined according to the comparison result, wherein the second angle threshold can be 10 degrees, which is only an exemplary example.

[0059] Optionally, when the angle between the vertical direction of the reference edge and the orientation of the adjacent edge is less than the second angle threshold, in this case, the orientation of the adjacent edge can be directly determined as the mining orientation of the mining equipment. It should be noted that when the angle between the vertical direction of the reference edge and the orientation of the adjacent edge is less than the second angle threshold, it means that the orientation of the reference edge is similar to the orientation of the adjacent edge. In this case, either the vertical direction of the reference edge or the orientation of the adjacent edge can be selected as the mining orientation of the mining equipment. Here, the mining orientation of the mining equipment is determined as the orientation of the adjacent edge in order to ensure the stability of the results. Because, usually, as the mining operation proceeds, the reference edge will change, while the adjacent edge generally remains unchanged.

[0060] Optionally, when the angle between the perpendicular direction of the reference side and the direction of the adjacent side is greater than or equal to the second angle threshold, the length of the adjacent side can be introduced as a judgment condition to determine the mining direction of the mining equipment according to the length of the adjacent side.

[0061] As an optional embodiment, the mining direction of the mining equipment is determined based on the length of the adjacent edge, including: in response to the length of the adjacent edge being less than a first length threshold, determining the perpendicular direction of the reference edge as the mining direction of the mining equipment; or, in response to the length of the adjacent edge being greater than or equal to the first length threshold, determining the direction of the adjacent edge as the mining direction of the mining equipment.

[0062] In this embodiment, when the length of the adjacent side is introduced as a judgment condition, if the length of the adjacent side is less than the first length threshold, the vertical direction of the reference side can be determined as the mining direction of the mining equipment. The first length threshold can be 30 meters, which is 3 vehicle lengths, and the length of a single vehicle is generally 10 meters.

[0063] Optionally, if the length of the adjacent edge is greater than or equal to a first length threshold, the direction of the adjacent edge may be determined as the mining direction of the mining equipment.

[0064] As an optional implementation, the mining direction of the mining equipment is predicted based on at least the orientation of two adjacent edges and the perpendicular direction of the reference edge, including: in response to the angle between the orientations of the two adjacent edges being less than a second angle threshold, determining the perpendicular direction of the reference edge as the mining direction of the mining equipment; or, in response to the angle between the orientations of the two adjacent edges being greater than or equal to the second angle threshold, predicting the mining direction of the mining equipment based on the angles between the orientations of the two adjacent edges and the perpendicular direction of the reference edge.

[0065] In this embodiment, as can be seen from the above description, when there are two adjacent edges, the mining direction of the mining equipment is predicted based on at least the directions of the two adjacent edges and the direction of the perpendicular to the reference edge. For example, the second angle threshold is used as a reference to determine the comparison result between the angle between the directions of the two edges and the second angle threshold, and then the mining direction of the mining equipment is determined according to the comparison result.

[0066] Optionally, when the angle between the directions of the two edges is less than a second angle threshold, the direction of a perpendicular line of the reference edge is determined as the mining direction of the mining equipment.

[0067] Optionally, when the angle between the orientations of two edges is greater than or equal to a second angle threshold, the vertical direction of the reference edge may be introduced for further judgment. For example, the mining direction of the mining equipment may be predicted based on the angle between the orientations of two adjacent edges and the vertical direction of the reference edge.

[0068] As an optional implementation, the mining direction of the mining equipment is predicted based on the angles between the orientations of two adjacent edges and the perpendicular direction of the reference edge, including: in response to the angle between the orientation of an adjacent edge and the perpendicular direction of the reference edge being less than a second angle threshold, the orientation of the adjacent edge whose angle with the perpendicular direction of the reference edge is less than the second angle threshold is determined as the mining direction of the mining equipment; or, in response to the angles between the orientations of two adjacent edges and the perpendicular direction of the reference edge being greater than the second angle threshold, the mining direction of the mining equipment is predicted based on the lengths of the two adjacent edges.

[0069] In this embodiment, when the vertical direction of the reference edge is introduced for further judgment, if there is an adjacent edge whose angle with the vertical direction of the reference edge is less than the second angle threshold, the adjacent edge whose angle with the vertical direction of the reference edge is less than the second angle threshold is determined as the mining direction of the mining equipment.

[0070] Optionally, if the angle between the orientations of the two adjacent edges and the perpendicular direction of the reference edge is greater than a second angle threshold, in this case, the lengths of the adjacent edges may be further introduced for further determination.

[0071] As an optional implementation, predicting the mining direction of a mining equipment based on the length of two adjacent edges includes: in response to the lengths of the two adjacent edges being less than a first length threshold, determining the perpendicular direction of the reference edge as the mining direction of the mining equipment; or, in response to the existence of one of the two adjacent edges having a length greater than the first length threshold, determining the direction of the adjacent edge having a length greater than the first length threshold as the mining direction of the mining equipment; or, in response to the lengths of the two adjacent edges being greater than the first length threshold, determining the direction of the adjacent edge with the longest length among the two adjacent edges as the mining direction of the mining equipment.

[0072] In this embodiment, when the lengths of the adjacent sides are introduced for judgment, if the lengths of the two adjacent sides are both less than the first length threshold, the vertical direction of the reference side is determined as the mining direction of the mining equipment.

[0073] Optionally, if the length of one of the two adjacent edges is greater than a first length threshold, the direction of the adjacent edge whose length is greater than the first length threshold is determined as the mining direction of the mining equipment.

[0074] Optionally, if the lengths of the two adjacent edges are both greater than a first length threshold, the direction of the adjacent edge with the longest length among the two adjacent edges is determined as the mining direction of the mining equipment.

[0075] In the above steps, under different numbers of adjacent edges, information such as the vertical direction of the reference edge, the orientation of the adjacent edges, and the length of the adjacent edges are used. Through a step-by-step approach, different situations are comprehensively considered to predict the mining direction of the mining equipment in different situations, thereby achieving comprehensive and accurate prediction of the mining direction of the mining equipment.

[0076] As an optional embodiment, the mining direction prediction method of the mining equipment also includes: in response to the length of the initial reference edge in the boundary of the loading area being greater than or equal to a second length threshold, and / or the angle between the initial reference edge and the adjacent edge of the initial reference edge being greater than the second angle threshold, determining the initial reference edge as the reference edge, wherein the distance between the initial reference edge and the reference position of the mining equipment is less than the distance threshold, and the second length threshold is less than the first length threshold; or, in response to the length of the initial reference edge in the boundary of the loading area being less than the second length threshold, and the angle between the initial reference edge and the adjacent edge of the initial reference edge being less than the second angle threshold, determining the edge obtained by merging the initial reference edge with the adjacent edge of the initial reference edge as the reference edge.

[0077] In this embodiment, when determining the reference edge, an initial reference edge may be first determined in the boundary of the loading area, and then based on the length of the initial reference edge and the orientation information of the initial reference edge, it is determined whether to extend the initial reference edge to obtain the reference edge.

[0078] Optionally, the distance between the initial reference side and the mining direction of the mining equipment is less than the distance threshold, which can be understood as the initial reference side being the side in the boundary of the loading area that is closest to the reference position of the mining equipment. After determining the initial reference side, the comparison result between the length of the initial reference side and the second length threshold, and the comparison result between the angle between the initial reference side and the adjacent side of the initial reference side and the second angle threshold can be determined, and then according to the two comparison results, it is determined whether to expand the initial reference side to obtain the reference side.

[0079] Optionally, if the length of the initial reference edge is greater than or equal to a second length threshold, and / or the angle between the initial reference edge and an adjacent edge of the initial reference edge is greater than a second angle threshold, in this case, the initial reference edge may not be expanded and the initial reference edge may be directly determined as the reference edge.

[0080] Optionally, if the length of the initial reference edge is less than a second length threshold, and the angle between the initial reference edge and the adjacent edge of the initial reference edge is less than a second angle threshold, the edge obtained by merging the initial reference edge and the adjacent edge of the initial reference edge is determined as the reference edge, that is, the initial reference edge is extended, wherein the purpose of the extension is to cluster adjacent edges that are similar to the initial reference edge, wherein the second angle threshold can be 10 degrees, which is only an illustrative example here.

[0081] As an optional implementation, step S101, obtaining the boundary of the loading area where the mining equipment is located, includes: thinning the boundary feature points of the loading area to obtain multiple thinned boundary feature points; performing convex hull calculation on the multiple thinned boundary feature points to obtain convex polygon vertices; determining the boundary of the loading area at least based on the convex polygon vertices, and the target boundary feature points include the convex polygon vertices.

[0082] In this embodiment, when obtaining the boundary of the loading area, the boundary feature points of the loading area may be thinned out to reduce the number of boundary feature points of the loading area, and then the convex hull of the thinned multiple boundary feature points may be calculated to obtain a convex polygon.

[0083] For example, the Douglas algorithm can be used to thin out the boundary feature points of the loading area, and then the thinned boundary feature points are sequentially connected to obtain a convex polygon, which can also be called a convex hull. After obtaining the convex hull, the boundary of the loading area can be determined at least based on the vertices of the convex polygon.

[0084] As an optional implementation, thinning out the boundary feature points of the loading area to obtain a plurality of thinned boundary feature points includes: thinning out the boundary feature points of the loading area based on a first thinning threshold to obtain a plurality of boundary feature points after the initial thinning; obtaining the convex hull of the plurality of thinned boundary feature points to obtain convex polygon vertices, including: arranging the plurality of boundary feature points after the initial thinning in order to form a boundary feature point set, and determining the convex polygon vertices formed by connecting the plurality of boundary feature points after the initial thinning; determining adjacent convex polygon vertices in the boundary feature point set based on the arrangement positions of the convex polygon vertices in the boundary feature point set; the method also includes: thinning out the boundary feature points between adjacent convex polygon vertices in the boundary feature point set based on a second thinning threshold to obtain target boundary feature points.

[0085] In this embodiment, when thinning out the boundary feature points of the loading area, the Douglas algorithm can be used to thin out the boundary feature points of the loading area according to a first thinning threshold to obtain multiple boundary feature points after the initial thinning, wherein the connecting line of the multiple boundary feature points after the initial thinning can represent the original shape of the boundary of the loading area, wherein the first thinning threshold can be 2.

[0086] Optionally, after obtaining multiple boundary feature points after the initial thinning, the multiple boundary feature points after the initial thinning can be arranged in order to form a boundary feature point set, and the multiple boundary feature points after the initial thinning can be connected in order to form a convex polygon, and then the vertices of the convex polygon are determined to obtain the vertices of the convex polygon.

[0087] Optionally, after obtaining the convex polygon vertices, the adjacent convex hull vertices in the boundary feature point set can be determined based on the corresponding positions of each convex hull vertex in the boundary feature point set. Then, the Douglas algorithm is used to thin out the multiple boundary feature points after the initial thinning according to the second thinning threshold to obtain the target boundary feature points, wherein the second thinning threshold can be 5, that is, the second thinning threshold is greater than the first thinning threshold, so as to further optimize the boundary of the loading area and straighten the boundary line of the loading area, and make the boundary of the loading area clearer and smoother by removing possible interference points.

[0088] Through the above steps, when predicting the mining direction of the mining equipment, the boundary information of the loading area is fully considered, and based on the reference position of the mining equipment in the loading area, the reference edge and / or adjacent edge is determined from the boundary of the loading area, and then according to the orientation-related information of the reference edge and / or the orientation-related information of the adjacent edge, the mining direction of the mining equipment is automatically predicted without manual determination, thereby reducing errors in manual operation and improving the prediction accuracy of the mining direction of the mining equipment, thereby solving the technical problem of unstable quality of the mining direction of the mining equipment that relies on manual determination in related technologies.

[0089] In a mining scenario, there is a collaborative working relationship between the autonomous driving mining truck and the mining equipment. Based on this, an embodiment of the present invention also provides an embodiment of a path planning method for an autonomous driving vehicle. Figure 2 is a flow chart of a path planning method for an autonomous driving vehicle according to an embodiment of the present invention. Figure 2 As shown, the method comprises the following steps:

[0090] Step S201, predicting the mining direction of the mining equipment.

[0091] In the technical solution provided in the above step S201 of the present application, the mining equipment may be an excavator, and the mining direction of the mining equipment may be predicted by the method introduced in the above steps S101 to S103, which will not be repeated here.

[0092] Step S202, planning the path of the autonomous driving vehicle according to the predicted mining direction of the mining equipment.

[0093] In the technical solution provided in the above step S202 of the present application, since in the open-pit mine scenario, the autonomous driving mining truck and the mining equipment are in a collaborative working relationship, based on this, the terminal direction of the autonomous driving mining truck after entering the loading area also depends on the mining direction. Therefore, after determining the mining direction of the mining equipment, the path of the autonomous driving vehicle can be planned according to the predicted mining direction of the mining equipment, wherein the path of the autonomous driving vehicle can be planned by a path planning model, and no specific restrictions are made here.

[0094] In the above steps S201 to S202 of the present application, after determining the mining direction of the mining equipment, the path of the autonomous driving vehicle is planned according to the predicted mining direction of the mining equipment. This allows the autonomous driving vehicle to work efficiently with the mining equipment according to the planned path, avoiding technical problems such as operational process terminals and low production efficiency, thereby improving the overall operational efficiency and quality of mining operations.

[0095] The technical solution of the embodiment of the present invention is illustrated below in conjunction with preferred implementation modes.

[0096] In the related art, in the loading area of ​​an open-pit mine, the excavation direction of the excavator is usually obtained by manually rotating the bucket direction by the excavator operator. However, this method has the following shortcomings: Different types of excavators have different times for rotating the bucket, especially large excavators often take longer to rotate the mechanical arm, which makes the calibration of the excavation direction time-consuming and labor-intensive, reducing the operating efficiency; different excavator operators have different understandings of the excavation direction. On the same working platform, different excavation directions have different effects on operating efficiency and excavation quality. This artificial difference leads to unstable quality of the excavation direction, which in turn affects the overall operating effect; the excavation position is the target point for the autonomous driving mining truck. In the field of autonomous driving of open-pit mining trucks, the terminal direction of the mining truck after entering the loading area also depends on the excavation direction. If the quality of the manually calibrated excavation direction is poor, the autonomous driving mining truck may not be able to enter the loading point smoothly, thus affecting the overall operating efficiency.

[0097] The present application provides a method for determining the excavation direction of an excavator, which determines the boundary of the loading area by using the Douglas algorithm and the Andrew algorithm, and then determines the excavation direction of the excavator according to the orientation-related information of the reference edge closest to the reference position of the excavator in the loading area, and the orientation-related information of the adjacent edge adjacent to the reference edge, thereby avoiding errors and inconsistencies in manual calibration. The algorithm predicts the excavation direction, which simplifies the excavator operation process, especially when large excavators need to rotate the mechanical arm for a long time, which significantly saves time and improves work efficiency. Due to the accuracy of the excavation direction, the automatic driving mining truck can reach the loading point more accurately, improves the feasibility and efficiency of the automatic mining truck path planning, and reduces the time and difficulty of path adjustment; by automatically predicting the excavation direction, it reduces manual intervention and errors, improves the collaborative operation efficiency of the excavator and the automatic driving mining truck, and promotes the automation and intelligentization of mining operations.

[0098] Figure 3 is a schematic diagram of calibration of the excavation direction of an excavator according to an embodiment of the present invention, such as Figure 3 As shown, after determining the reference edge and the adjacent edge in the loading area based on the reference position of the excavator in the loading area, the excavation direction of the excavator can be determined according to the orientation-related information of the reference edge and the orientation-related information of the adjacent edge.

[0099] For example, Figure 3 As shown in the figure, the basic mode corresponds to the case where there is only one adjacent edge. When there is only one adjacent edge, if the angle between the vertical direction of the reference edge and the direction of the adjacent edge is less than 10 degrees, and the length of the adjacent edge is arbitrary, the direction of the adjacent edge is determined as the excavation direction of the excavator. Figure 3 The direction of the adjacent side is consistent with the direction of the vertical line of the reference side. If the angle between the vertical line of the reference side and the direction of the adjacent side is higher than 10 degrees, the length of the adjacent side is introduced for judgment. If the length of the adjacent side is less than 30 meters, the vertical line of the reference side is used to determine the excavation direction of the excavator; if the length of the adjacent side is higher than 30 meters, the direction of the adjacent side is determined as the excavation direction of the excavator. Among them, 10 degrees is an empirical value. If it is lower than 10 degrees, it means that the directions of the reference side and the adjacent side are similar. Either the vertical line direction or the adjacent side direction can be selected. The adjacent side is used here to ensure the stability of the results. Under normal circumstances, as the excavation operation proceeds, the reference side will change, while the adjacent side generally remains unchanged. 30 meters is an empirical value, which is 3 vehicle lengths. The length of a single vehicle is generally about 10 meters.

[0100] Alternatively, if Figure 3 As shown, basic mode 2 corresponds to the case where there are two adjacent edges. When there are two adjacent edges, if the orientation difference between the two adjacent edges is less than 10 degrees, the angle mean direction of the two adjacent edges is determined as the excavation direction of the excavator. Figure 3is the vertical direction of the reference side. If the difference between the orientations of two adjacent sides is greater than 10 degrees, the vertical direction of the reference side is introduced for further judgment. If the difference between the orientations of two adjacent sides is greater than 10 degrees, and there is an adjacent side whose orientation has an angle difference of less than 10 degrees with the vertical direction of the reference side, and the length is arbitrary, then the orientation of the adjacent side is determined as the excavation direction of the excavator; if the difference between the orientations of two adjacent sides is greater than 10 degrees, and the angle differences between the orientations of the two adjacent sides and the vertical direction of the reference side are both greater than 10 degrees, and there is an adjacent side whose length is greater than 30 meters, then the orientation of the adjacent side is determined as the excavation direction of the excavator. The direction of the excavator is determined as the excavation direction of the excavator; if the direction difference between two adjacent sides is higher than 10 degrees, and the angle difference between the directions of the two adjacent sides and the perpendicular direction of the reference side is higher than 10 degrees, and the lengths of the adjacent sides on both sides are lower than 30 meters, the perpendicular direction of the reference side is determined as the excavation direction of the excavator; if the direction difference between two adjacent sides is higher than 10 degrees, and the angle difference between the directions of the two adjacent sides and the perpendicular direction of the reference side is higher than 10 degrees, and the lengths of the adjacent sides on both sides are higher than 30 meters, the direction of the longest adjacent side is determined as the excavation direction of the excavator.

[0101] In this application, the mining direction is automatically predicted by the algorithm, which ensures the consistency and accuracy of the mining direction in the same scenario, avoids interference from human factors, reduces errors in the human operation process, reduces the operator's workload, and makes mining operations more automated and intelligent; there is no need for the excavator operator to rotate the mechanical arm, thereby significantly saving the excavator's operating time and improving operating efficiency; the loading area boundary information is fully considered, the predicted mining direction is more reasonable, and the autonomous driving mining truck can reach the loading point more accurately, reducing the time and difficulty of path adjustment and improving overall operating efficiency.

[0102] According to an embodiment of the present invention, a mining direction prediction device for mining equipment is also provided. It should be noted that the mining direction prediction device for mining equipment can be used to execute the mining direction prediction method for mining equipment in the embodiment of the present invention.

[0103] Figure 4 is a schematic diagram of a mining direction prediction device for mining equipment according to an embodiment of the present invention. The mining direction prediction device 400 for mining equipment includes: an acquisition unit 401 , a determination unit 402 and a prediction unit 403 .

[0104] An acquisition unit 401 is used to acquire a boundary of a loading area where the mining equipment is located, wherein the boundary is composed of edges composed of target boundary feature points that meet specified conditions;

[0105] A determination unit 402 is configured to determine a reference edge and / or an adjacent edge from a boundary of the loading area based on a reference position of the mining equipment in the loading area, wherein the reference edge is an edge in the boundary of the loading area whose distance from the reference position is less than a distance threshold, and the adjacent edge is an edge in the boundary of the loading area that is adjacent to the reference edge, and an angle between the adjacent edge and the reference edge in the loading area is less than a first angle threshold;

[0106] The prediction unit 403 is configured to predict the mining direction of the mining equipment based on the information related to the direction of the reference edge and / or the information related to the direction of the adjacent edge.

[0107] Optionally, the prediction unit 403 includes: a first prediction module, used to determine the vertical direction of the reference edge based on the orientation information of the reference edge in response to the existence of an adjacent edge; and predict the mining direction of the mining equipment based on at least the angle between the vertical direction of the reference edge and the orientation of the adjacent edge, or, a second prediction module, used to determine the vertical direction of the reference edge based on the orientation information of the reference edge in response to the existence of two adjacent edges; and predict the mining direction of the mining equipment based on at least the orientations of the two adjacent edges and the vertical direction of the reference edge; or, a third prediction module, used to determine the vertical direction of the reference edge based on the orientation information of the reference edge in response to the absence of an adjacent edge; and predict the mining direction of the mining equipment based at least on the vertical direction of the reference edge.

[0108] Optionally, the first prediction module also includes: a first determination submodule, used to determine the orientation of the adjacent edge as the mining orientation of the mining equipment in response to the angle between the vertical direction of the reference edge and the orientation of the adjacent edge being less than a second angle threshold, wherein the second angle threshold is less than the first angle threshold; or, a second determination submodule, used to determine the mining orientation of the mining equipment based on the length of the adjacent edge in response to the angle between the vertical direction of the reference edge and the orientation of the adjacent edge being greater than or equal to the second angle threshold.

[0109] Optionally, the second determination submodule is further used to: in response to the length of the adjacent edge being less than a first length threshold, determine the perpendicular direction of the reference edge as the mining direction of the mining equipment; or, in response to the length of the adjacent edge being greater than or equal to the first length threshold, determine the direction of the adjacent edge as the mining direction of the mining equipment.

[0110] Optionally, the second prediction module includes: a third determination submodule, in response to the angle between the orientations of two adjacent edges being less than a second angle threshold, determining the perpendicular direction of the reference edge as the mining direction of the mining equipment; or, a fourth determination submodule, in response to the angle between the orientations of two adjacent edges being greater than or equal to the second angle threshold, predicting the mining direction of the mining equipment based on the angles between the orientations of the two adjacent edges and the perpendicular direction of the reference edge.

[0111] Optionally, the fourth determination submodule is also used for: in response to the angle between the orientation of an adjacent edge and the perpendicular direction of the reference edge being less than a second angle threshold, determining the orientation of the adjacent edge whose angle with the perpendicular direction of the reference edge is less than the second angle threshold as the mining direction of the mining equipment; or, in response to the angles between the orientations of two adjacent edges and the perpendicular direction of the reference edge being greater than the second angle threshold, predicting the mining direction of the mining equipment based on the lengths of the two adjacent edges.

[0112] Optionally, the fourth determination submodule is also used to: in response to the lengths of two adjacent edges being less than a first length threshold, determine the vertical direction of the reference edge as the mining direction of the mining equipment; or, in response to the existence of one of the two adjacent edges having a length greater than the first length threshold, determine the direction of the adjacent edge whose length is greater than the first length threshold as the mining direction of the mining equipment; or, in response to the lengths of two adjacent edges being greater than the first length threshold, determine the direction of the adjacent edge with the longest length among the two adjacent edges as the mining direction of the mining equipment.

[0113] Optionally, the mining direction prediction method of the mining equipment also includes: in response to the length of the initial reference edge in the boundary of the loading area being greater than or equal to a second length threshold, and / or the angle between the initial reference edge and the adjacent edge of the initial reference edge being greater than a second angle threshold, determining the initial reference edge as the reference edge, wherein the distance between the initial reference edge and the reference position of the mining equipment is less than the distance threshold, and the second length threshold is less than the first length threshold; or, in response to the length of the initial reference edge in the boundary of the loading area being less than the second length threshold, and the angle between the initial reference edge and the adjacent edge of the initial reference edge being less than the second angle threshold, determining the edge obtained by merging the initial reference edge with the adjacent edge of the initial reference edge as the reference edge.

[0114] Optionally, the acquisition unit 401 also includes: a thinning module, which is used to thin the boundary feature points of the loading area to obtain multiple thinned boundary feature points; a calculation module, which is used to obtain the convex hull of the multiple thinned boundary feature points to obtain convex polygon vertices; a determination module, which is used to determine the boundary of the loading area at least based on the convex polygon vertices, and the target boundary feature points include the convex polygon vertices.

[0115] Optionally, the thinning module is also used to: thin out the boundary feature points of the loading area based on a first thinning threshold to obtain multiple boundary feature points after the initial thinning; the calculation module is also used to: arrange the multiple boundary feature points after the initial thinning in order to form a boundary feature point set, and determine the convex polygon vertices formed by connecting the multiple boundary feature points after the initial thinning; determine adjacent convex polygon vertices in the boundary feature point set based on the arrangement position of the convex polygon vertices in the boundary feature point set; the mining direction prediction device of the mining equipment is also used to: thin out the boundary feature points between adjacent convex polygon vertices in the boundary feature point set based on a second thinning threshold to obtain target boundary feature points.

[0116] In this implementation, when predicting the mining direction of the mining equipment, the boundary information of the loading area is fully considered, and based on the reference position of the mining equipment in the loading area, the reference edge and / or adjacent edge is determined from the boundary of the loading area, and then the mining direction of the mining equipment is automatically predicted based on the orientation-related information of the reference edge and / or the orientation-related information of the adjacent edge, without the need for manual determination, thereby reducing errors caused by manual operation and improving the prediction accuracy of the mining direction of the mining equipment, thereby solving the technical problem in the related technology that the quality of the mining direction of the mining equipment that relies on manual determination is unstable.

[0117] An embodiment of the present application further provides an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in various embodiments of the present invention when running.

[0118] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0119] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0120] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0121] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0122] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0123] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0124] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0125] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0126] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0127] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc. Various media that can store program codes.

[0128] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for predicting the mining direction of a mining device, characterized in that: include: Obtaining a boundary of a loading area where the mining equipment is located, wherein the boundary is composed of edges composed of target boundary feature points that meet specified conditions; Based on the reference position of the mining equipment in the loading area, determining a reference edge and / or an adjacent edge from the boundary of the loading area, wherein the reference edge is an edge in the boundary of the loading area whose distance from the reference position is less than a distance threshold, and the adjacent edge is an edge in the boundary of the loading area that is adjacent to the reference edge, and an angle between the adjacent edge and the reference edge in the loading area is less than a first angle threshold; The mining direction of the mining equipment is predicted based on the orientation-related information of the reference edge and / or the orientation-related information of the adjacent edge.

2. The prediction method according to claim 1, characterized in that: Predicting the mining direction of the mining equipment based on the orientation information of the reference edge and / or the orientation information of the adjacent edge includes: In response to the existence of one of the adjacent edges, the direction of the vertical line of the reference edge is determined based on the orientation information of the reference edge; the mining orientation of the mining equipment is predicted based at least on the angle between the vertical line of the reference edge and the orientation of the adjacent edge; or In response to the existence of two adjacent edges, determining the direction of the vertical line of the reference edge based on the orientation information of the reference edge; predicting the mining direction of the mining equipment based at least on the orientations of the two adjacent edges and the direction of the vertical line of the reference edge; or, In response to the absence of the adjacent edge, a perpendicular direction of the reference edge is determined based on the orientation information of the reference edge; and a mining orientation of the mining equipment is predicted based at least on the perpendicular direction of the reference edge.

3. The prediction method according to claim 2, characterized in that: Predicting the mining direction of the mining equipment based at least on the angle between the perpendicular direction of the reference side and the direction of the adjacent side includes: In response to the angle between the perpendicular direction of the reference edge and the orientation of the adjacent edge being less than a second angle threshold, determining the orientation of the adjacent edge as the mining orientation of the mining equipment, wherein the second angle threshold is less than the first angle threshold; or In response to the angle between the perpendicular direction of the reference side and the orientation of the adjacent side being greater than or equal to the second angle threshold, the mining orientation of the mining equipment is determined based on the length of the adjacent side.

4. The prediction method according to claim 3, characterized in that: Determining the mining direction of the mining equipment based on the length of the adjacent side includes: In response to the length of the adjacent edge being less than a first length threshold, determining the perpendicular direction of the reference edge as the mining direction of the mining equipment; or, In response to the length of the adjacent edge being greater than or equal to the first length threshold, the orientation of the adjacent edge is determined as the mining orientation of the mining equipment.

5. The prediction method according to claim 2, characterized in that: Predicting the mining direction of the mining equipment based on at least the directions of the two adjacent edges and the direction of the perpendicular to the reference edge includes: In response to the angle between the directions of the two adjacent edges being less than a second angle threshold, determining the direction of a perpendicular line of the reference edge as the mining direction of the mining equipment; or, In response to the angle between the directions of the two adjacent edges being greater than or equal to a second angle threshold, the mining direction of the mining equipment is predicted based on the angles between the directions of the two adjacent edges and the perpendicular direction of the reference edge.

6. The prediction method according to claim 5, characterized in that: Predicting the mining direction of the mining equipment based on the angles between the directions of the two adjacent sides and the perpendicular direction of the reference side respectively includes: In response to the angle between the orientation of one of the adjacent edges and the direction of the perpendicular to the reference edge being smaller than the second angle threshold, the orientation of the adjacent edge whose angle with the direction of the perpendicular to the reference edge is smaller than the second angle threshold is determined as the mining orientation of the mining equipment; or, In response to the angles between the directions of the two adjacent sides and the perpendicular direction of the reference side being greater than the second angle threshold, the mining direction of the mining equipment is predicted based on the lengths of the two adjacent sides.

7. The prediction method according to claim 6, characterized in that: Predicting the mining direction of the mining equipment based on the lengths of the two adjacent sides includes: In response to the lengths of the two adjacent sides being both less than a first length threshold, determining the direction of a perpendicular line of the reference side as the mining direction of the mining equipment; or, In response to the fact that the length of one of the two adjacent edges is greater than the first length threshold, the direction of the adjacent edge whose length is greater than the first length threshold is determined as the mining direction of the mining equipment; or, In response to the lengths of the two adjacent sides being both greater than the first length threshold, the orientation of the adjacent side with the longest length among the two adjacent sides is determined as the mining orientation of the mining equipment.

8. The prediction method according to claim 1, characterized in that: The method further comprises: In response to a length of an initial reference edge in a boundary of the loading area being greater than or equal to a second length threshold, and / or an angle between the initial reference edge and an adjacent edge of the initial reference edge being greater than a second angle threshold, the initial reference edge is determined as the reference edge, wherein a distance between the initial reference edge and the reference position of the mining equipment is less than the distance threshold, and the second length threshold is less than the first length threshold; or, In response to the length of the initial reference edge in the boundary of the loading area being less than the second length threshold, and the angle between the initial reference edge and the adjacent edge of the initial reference edge being less than the second angle threshold, the edge obtained by merging the initial reference edge and the adjacent edge of the initial reference edge is determined as the reference edge.

9. The prediction method according to claim 1, characterized in that: Get the boundaries of the loading area where the mining equipment is located, including: Thinning the boundary feature points of the loading area to obtain a plurality of thinned boundary feature points; The convex hull is calculated for the thinned multiple boundary feature points to obtain the convex polygon vertices; The boundary of the loading area is determined at least based on the convex polygon vertices, and the target boundary feature points include the convex polygon vertices.

10. The prediction method according to claim 9, characterized in that: The boundary feature points of the loading area are thinned out, and the thinned boundary feature points include: Thinning the boundary feature points of the loading area based on a first thinning threshold to obtain a plurality of boundary feature points after initial thinning; The convex hull of the thinned boundary feature points is calculated to obtain the convex polygon vertices, including: Arranging the plurality of boundary feature points after the initial thinning in order to form a boundary feature point set, and determining the vertices of a convex polygon formed by connecting the plurality of boundary feature points after the initial thinning; Determining adjacent convex polygon vertices in the boundary feature point set based on the arrangement positions of the convex polygon vertices in the boundary feature point set; The method further comprises: Based on a second thinning threshold, the boundary feature points between adjacent convex polygon vertices in the boundary feature point set are thinned to obtain the target boundary feature points.

11. A path planning method for an autonomous driving vehicle, characterized in that: include: Predicting the mining direction of the mining equipment according to the method of claims 1 to 10; The path of the autonomous driving vehicle is planned based on the predicted mining direction of the mining equipment.

12. A mining direction prediction device for mining equipment, characterized in that: include: An acquisition unit, used to acquire a boundary of a loading area where the mining equipment is located, wherein the boundary is composed of edges composed of target boundary feature points that meet specified conditions; a determining unit, configured to determine a reference edge and / or an adjacent edge from a boundary of the loading area based on a reference position of the mining equipment in the loading area, wherein the reference edge is an edge in the boundary of the loading area whose distance from the reference position is less than a distance threshold, and the adjacent edge is an edge in the boundary of the loading area that is adjacent to the reference edge, and an angle between the adjacent edge and the reference edge in the loading area is less than a first angle threshold; A prediction unit is used to predict the mining direction of the mining equipment based on the information related to the direction of the reference edge and / or the information related to the direction of the adjacent edge.

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