Method and device for detecting ground gradient of dumping site and electronic equipment

Abstract

The invention provides a method and device for detecting the ground gradient of a waste dump and electronic equipment, and relates to the field of intelligent mines. The method comprises the following steps: acquiring an environment point cloud of a to-be-detected refuse dump; target ground area point cloud is determined from the environment point cloud based on a preset detection frame, and the target ground area point cloud is used for representing a target ground area corresponding to the preset detection frame in the to-be-detected dumping site; performing plane fitting on the point cloud of the target ground area to obtain an area plane normal vector corresponding to the target ground area; and performing gradient detection based on the region plane normal vector and a preset detection frame to obtain a ground gradient detection result.

Description

Technical Field

[0001] The present disclosure relates to the field of smart mines, and more specifically, to a method, device and electronic equipment for detecting the ground slope of a spoil dump. Background Art

[0002] In mining operations, mining trucks can unload the ore and other mineral materials they carry into designated dump areas. However, due to the large area of ​​the mining operation area, it is more resource-intensive to detect the slope of the ground related to the dump area. At the same time, the accuracy of ground slope detection in dump areas with complex terrain environments is low, which makes it difficult to meet the actual requirements for operation accuracy and efficiency. Summary of the invention

[0003] In view of this, the present disclosure provides a method, device and electronic equipment for detecting the slope of a spoil dump.

[0004] One aspect of the present disclosure provides a method for detecting the ground slope of a spoil dump, comprising: obtaining an environmental point cloud of the spoil dump to be detected; determining a target ground area point cloud from the environmental point cloud based on a preset detection frame, wherein the target ground area point cloud is used to characterize the target ground area corresponding to the preset detection frame in the spoil dump to be detected; performing plane fitting on the target ground area point cloud to obtain a regional plane normal vector corresponding to the target ground area; and performing slope detection based on the regional plane normal vector and the preset detection frame to obtain a ground slope detection result.

[0005] Another aspect of the present disclosure provides a device for detecting the ground slope of a spoil dump, including: an acquisition module, used to acquire an environmental point cloud of the spoil dump to be detected; a first determination module, used to determine a target ground area point cloud from the environmental point cloud based on a preset detection frame, wherein the target ground area point cloud is used to characterize the target ground area corresponding to the preset detection frame in the spoil dump to be detected; a regional plane normal vector acquisition module, used to perform plane fitting on the target ground area point cloud to obtain a regional plane normal vector corresponding to the target ground area; and a slope detection module, used to perform slope detection based on the regional plane normal vector and the preset detection frame to obtain a ground slope detection result.

[0006] Another aspect of the present disclosure provides an electronic device, comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement a method for detecting the slope of a spoil dump surface.

[0007] Another aspect of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, which are used to implement a method for detecting a ground slope of a spoil dump when executed.

[0008] Another aspect of the present disclosure provides a computer program product, which includes computer executable instructions. When the instructions are executed, they are used to implement a method for detecting the slope of a spoil dump.

[0009] According to the embodiments of the present disclosure, by using a preset detection frame to determine the target ground area point cloud related to the ground area to be detected from the environmental point cloud, the larger-scale point data in the target ground area point cloud can be used to characterize the shape of the ground of the target ground area relative to the horizontal plane. By fitting the target ground area point cloud to determine the regional plane normal vector, the regional plane normal vector can be used to more conveniently and accurately simulate the position and shape of the target ground area in the preset space. At the same time, based on the regional plane normal vector and the preset detection frame, the slope of the ground area is detected based on the ground slope detection result in the preset space. The slope of the target ground area between the horizontal plane and the horizontal plane can be accurately characterized, thereby quickly and accurately simulating the engineering slope detection results such as the cross slope and reverse slope of the target ground area, thereby improving the slope detection efficiency and accuracy of the ground area of ​​the spoil dump, and improving the engineering construction efficiency and the mining efficiency of mineral resources in the mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0011] Figure 1 An exemplary system architecture to which the method for detecting the ground slope of a spoil dump according to an embodiment of the present disclosure can be applied is schematically shown;

[0012] Figure 2 A flow chart schematically shows a method for detecting the ground slope of a spoil dump according to an embodiment of the present disclosure;

[0013] Figure 3 A schematic diagram of an application scenario for determining a preset detection frame according to an embodiment of the present disclosure is shown;

[0014] Figure 4 A schematic diagram of a preset detection frame according to an embodiment of the present disclosure is schematically shown;

[0015] Figure 5 A schematic diagram of a method for detecting the ground slope of a spoil dump according to an embodiment of the present disclosure is shown;

[0016] Figure 6A principle diagram of a method for detecting the ground slope of a spoil dump according to another embodiment of the present disclosure is schematically shown;

[0017] Figure 7 A schematic diagram of ground slope detection results according to an embodiment of the present disclosure is schematically shown;

[0018] Figure 8 A block diagram schematically shows a device for detecting the ground slope of a spoil dump according to an embodiment of the present disclosure; and

[0019] Fig. 9 A block diagram of an electronic device suitable for implementing a method for detecting the slope of a spoil dump according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0020] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0021] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0022] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0023] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0024] In the embodiments of the present disclosure, the collection, updating, analysis, processing, use, transmission, provision, disclosure, storage, etc. of the data involved (for example, including but not limited to user personal information) are in compliance with the provisions of relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. In particular, necessary measures are taken for user personal information to prevent illegal access to user personal information data and maintain the security of user personal information, network security, and national security.

[0025] In the embodiments of the present disclosure, the user's authorization or consent is obtained before obtaining or collecting the user's personal information.

[0026] The embodiments of the present disclosure provide a method, device and electronic device for detecting the ground slope of a spoil dump. The method for detecting the ground slope of a spoil dump includes: obtaining an environmental point cloud of a spoil dump to be detected; determining a target ground area point cloud from the environmental point cloud based on a preset detection frame, wherein the target ground area point cloud is used to characterize the target ground area corresponding to the preset detection frame in the spoil dump to be detected; performing plane fitting on the target ground area point cloud to obtain a regional plane normal vector corresponding to the target ground area; and performing slope detection based on the regional plane normal vector and the preset detection frame to obtain a ground slope detection result.

[0027] According to the embodiments of the present disclosure, by using a preset detection frame to determine the target ground area point cloud related to the ground area to be detected from the environmental point cloud, the larger-scale point data in the target ground area point cloud can be used to characterize the shape of the ground of the target ground area relative to the horizontal plane. By fitting the target ground area point cloud to determine the regional plane normal vector, the regional plane normal vector can be used to more conveniently and accurately simulate the position and shape of the target ground area in the preset space. At the same time, based on the regional plane normal vector and the preset detection frame, the slope of the ground area is detected based on the ground slope detection result in the preset space. The slope of the target ground area between the horizontal plane and the horizontal plane can be accurately characterized, thereby quickly and accurately simulating the engineering slope detection results such as the cross slope and reverse slope of the target ground area, thereby improving the slope detection efficiency and accuracy of the ground area of ​​the spoil dump, and improving the engineering construction efficiency and the mining efficiency of mineral resources in the mine.

[0028] Figure 1 The exemplary system architecture of the method for detecting the ground slope of a spoil dump according to an embodiment of the present disclosure is schematically shown. It should be noted that: Figure 1 What is shown is merely an example of a system architecture to which the embodiments of the present disclosure can be applied, in order to help those skilled in the art understand the technical content of the present disclosure, but it does not mean that the embodiments of the present disclosure cannot be used in other devices, systems, environments or scenarios.

[0029] like Figure 1As shown, the application scenario 100 according to this embodiment may include a first vehicle 101, a second vehicle 102, a terminal device 103, a network 104, and a server 105. The network 104 is used to provide a medium for a communication link between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired, wireless communication links or optical fiber cables, etc.

[0030] The first vehicle 101, the second vehicle 102, and the terminal device 103 can each interact with the server 105 through the network 104 to receive or send messages, etc. The first vehicle 101, the second vehicle 102, and the terminal device 103 can also interact with each other based on the network 104 to receive or send messages. The first vehicle 101, the second vehicle 102, and the terminal device 103 can be unmanned vehicles, or can also include vehicles driven by driver users.

[0031] The first vehicle 101, the second vehicle 102, and the terminal device 103 may be any type of vehicle, such as a mining car, a truck, a car, and the like.

[0032] The terminal device 103 may be any type of device with computing functions, such as a smart phone, a laptop computer, a desktop computer, etc. The embodiments of the present disclosure do not limit the specific type of the terminal device.

[0033] The server 105 may be a server that provides various services, such as a server that provides background management for the motion status and operation status of the user using the first vehicle 101, the second vehicle 102, and the terminal device 103 (for example only). The background management server may analyze and process the data such as the broadcast messages received from the vehicles, and feed back the processing results to any vehicle.

[0034] It should be noted that the method for detecting the slope of the spoil dump provided in the embodiment of the present disclosure can generally be performed by any one of the first vehicle 101, the second vehicle 102, and the terminal device 103. The device for detecting the slope of the spoil dump provided in the embodiment of the present disclosure can also be set in any one of the first vehicle 101, the second vehicle 102, and the terminal device 103.

[0035] Alternatively, the method for detecting the slope of the ground in the spoil dump provided in the embodiment of the present disclosure may also be generally performed by the server 105. Accordingly, the device for detecting the slope of the ground in the spoil dump provided in the embodiment of the present disclosure may generally be arranged in the server 105. The method for detecting the slope of the ground in the spoil dump provided in the embodiment of the present disclosure may also be performed by a server or server cluster that is different from the server 105 and can communicate with the first vehicle 101, the second vehicle 102, the terminal device 103 and / or the server 105. Accordingly, the device for detecting the slope of the ground in the spoil dump provided in the embodiment of the present disclosure may also be arranged in a server or server cluster that is different from the server 105 and can communicate with the first vehicle 101, the second vehicle 102, the terminal device 103 and / or the server 105.

[0036] It should be understood that Figure 1 The number of terminal devices, vehicles, networks and servers in the embodiment is only for illustration. Any number of terminal devices, networks and servers may be provided as required.

[0037] Figure 2 The flowchart of the method for detecting the ground slope of a spoil dump according to an embodiment of the present disclosure is schematically shown.

[0038] like Figure 2 As shown, the method for detecting the ground slope of a spoil dump includes operations S210 to S240.

[0039] In operation S210, an environmental point cloud of the spoil dump to be detected is obtained.

[0040] In operation S220 , a target ground area point cloud is determined from the environment point cloud based on a preset detection frame.

[0041] In operation S230, plane fitting is performed on the target ground area point cloud to obtain a regional plane normal vector corresponding to the target ground area.

[0042] In operation S240, slope detection is performed based on the normal vector of the regional plane and a preset detection frame to obtain a ground slope detection result.

[0043] According to an embodiment of the present disclosure, the spoil dump may be a site area in a mining operation area for discharging mineral materials, or it may be a spoil dump in other operation environments, such as a garbage removal operation site, a hotspot operation site, and other types of operation scene areas.

[0044] According to an embodiment of the present disclosure, the environmental point cloud may be point cloud data obtained by detecting the environment of the spoil dump to be detected. The environmental point cloud may be obtained by collecting point cloud data of the spoil dump to be detected based on any type of detection device such as a laser radar or a millimeter wave radar.

[0045] According to an embodiment of the present disclosure, the target ground area point cloud is used to characterize the target ground area corresponding to the preset detection frame in the spoil dump to be detected. The environmental point cloud may be point cloud data in a preset space. The preset detection frame may be a rectangular frame in a preset space, and the preset detection frame may characterize the target ground area of ​​the spoil dump to be detected in the preset space. Determining the target ground area point cloud from the environmental point cloud based on the preset detection frame may include determining the environmental point cloud in the preset space that falls within the range of the preset detection frame as the target ground area point cloud. Alternatively, the target ground area point cloud may be determined from the environmental point cloud in combination with the range of the preset detection frame in the preset space and the coordinate threshold of the preset ground area. The target ground area point cloud has a large amount of point cloud data, which can achieve a more accurate characterization of the morphology of the target ground area in the preset space.

[0046] According to an embodiment of the present disclosure, plane fitting of the target ground area point cloud may include processing the target ground area point cloud based on a fitting algorithm to obtain a regional plane normal vector. The fitting algorithm may include a linear regression algorithm such as a least squares method, but is not limited thereto, and may also include plane fitting of the target ground area point cloud based on other types of algorithms such as a principal component analysis algorithm, a RANSAC (RANdom SAmpleConsensus) algorithm, and obtain a regional plane normal vector.

[0047] According to an embodiment of the present disclosure, the normal vector of the regional plane obtained based on the point cloud of the target ground area can more accurately represent the normal vector of the fitting plane corresponding to the target ground area in the preset space. Slope detection based on the regional plane normal vector and the preset detection frame can include determining the angle between the preset detection frame and the fitting plane based on the projection of the regional plane normal vector in the preset detection frame, and then by determining the coordinate system conversion relationship between the preset detection frame and the target ground area in the world coordinate system, the angle between the preset detection frame and the fitting plane can be converted into the angle between the target ground area and the horizontal plane in the world coordinate system, thereby obtaining the ground slope detection result of the target ground area. The ground slope detection result can include at least one of a cross slope detection result and a reverse slope detection result.

[0048] In one example, the ground slope detection result may include a ground slope detection pass or a ground slope detection fail. For example, the determined ground slope may be compared with a preset slope threshold, and when the ground slope meets the preset slope threshold, a ground slope detection result indicating that the ground slope detection pass is obtained. Alternatively, when the ground slope does not meet the preset slope threshold, a ground slope detection result indicating that the ground slope detection fail is obtained.

[0049] In one example, the ground slope detection passing may indicate that the cross slope detection passing or the reverse slope detection passing. Alternatively, the ground slope detection passing may indicate that the cross slope detection passing and the reverse slope detection passing.

[0050] In one example, failure of the ground slope detection may indicate failure of the cross slope detection or failure of the reverse slope detection. Alternatively, failure of the ground slope detection may indicate failure of the cross slope detection and failure of the reverse slope detection.

[0051] According to the embodiments of the present disclosure, the ground morphology of the target ground area is more accurately characterized by acquiring a point cloud of the target ground area, and the regional plane normal vector is obtained by plane fitting the point cloud of the target ground area, so that the regional plane normal vector can more accurately characterize the orientation and position of the target ground area in a preset space, and then, by performing slope detection on the target ground area based on a preset detection frame and the regional plane normal vector, the slope detection result can more accurately characterize the morphology of the target ground area, thereby improving the detection accuracy of the slope detection result.

[0052] In one example, the environmental point cloud can be collected from a mine car operating in a spoil dump to be inspected. A point cloud data collection device such as a laser radar device of the mine car performing the spoil dump operation can be controlled to collect point cloud data for the spoil dump to be inspected to obtain an environmental point cloud.

[0053] According to an embodiment of the present disclosure, the method for detecting the ground slope of a spoil dump also includes: determining a ground point cloud and a retaining wall point cloud from the environmental point cloud according to the point cloud position of the environmental point cloud in a preset space; fitting the point cloud coordinates of the ground point cloud and the retaining wall point cloud to obtain a spoil dump line in the preset space; and determining at least one preset detection frame based on the position of the spoil dump line in the preset space.

[0054] According to an embodiment of the present disclosure, the preset space may be a preset three-dimensional space, for example, the preset space may be a virtual three-dimensional space that can be displayed in an interactive interface. The point cloud position of the environment point cloud in the preset space may include the three-dimensional coordinates of the environment point cloud. Based on the coordinate data of the environment point cloud on a coordinate axis (such as a height coordinate axis) perpendicular to the preset detection frame, the ground point cloud whose distance from the plane of the preset detection frame is less than a preset coordinate distance threshold and the retaining wall point cloud whose distance from the plane of the preset detection frame is greater than a preset coordinate distance threshold can be determined.

[0055] It should be understood that the spoil dump to be inspected may include the ground and a retaining wall arranged on the ground, and the ground point cloud and the retaining wall point cloud may respectively represent the ground and the retaining wall in the spoil dump to be inspected in a preset space.

[0056] According to the embodiments of the present disclosure, the soil removal line may be a straight line, a curve or a broken line, and the embodiments of the present disclosure do not limit the specific shape of the soil removal line. Fitting the point cloud coordinates of the ground point cloud and the retaining wall point cloud to obtain the soil removal line in the preset space may include performing curve fitting on the point cloud coordinate positions of the ground point cloud and the retaining wall point cloud to obtain the soil removal line in the preset space. For example, the point cloud coordinates of the ground point cloud and the retaining wall point cloud may be curve fitted based on a fitting algorithm such as a linear regression algorithm, a nonlinear regression algorithm, or a least squares method.

[0057] According to an embodiment of the present disclosure, at least one preset detection frame is determined based on the position of the soil removal line in a preset space, which may include determining a detection frame position that is less than or equal to a preset distance threshold from the soil removal line, and setting a specified detection frame point of the preset detection frame setting at the detection frame position.

[0058] According to an embodiment of the present disclosure, the designated detection frame point may be a vertex of a designated boundary of a preset detection frame, a boundary center point, or any point in the designated boundary. Alternatively, the designated detection frame point may also be any point in the plane of the preset detection frame.

[0059] Figure 3 The following schematically shows an application scenario diagram for determining a preset detection frame according to an embodiment of the present disclosure.

[0060] like Figure 3 As shown, the spoil dump to be detected may include a retaining wall 311 and a ground 312. The retaining wall 311 and the ground 312 may be schematic positions and sizes of the spoil dump to be detected from a bird's-eye view. The spoil line may be a boundary line between the retaining wall 311 and the ground 312, and the target ground detection area may be a plurality of areas arranged in the extension direction of the spoil line, wherein the distance between the boundary of the target ground detection area and the spoil line may be less than a preset distance threshold. For example, the boundary of the target ground detection area coincides with the spoil line.

[0061] By collecting point cloud data of the spoil dump to be detected, a retaining wall point cloud and a ground point cloud representing the retaining wall 311 and the ground 312 respectively can be obtained. The retaining wall point cloud and the ground point cloud can be set in a preset space with an X-axis, a Y-axis and a Z-axis. By performing curve fitting on the retaining wall point cloud and the ground point cloud, a spoil line 321 in the preset space can be obtained. According to the position of the trajectory point of the spoil line 321, multiple preset detection frames are set on the spoil line 321. Among them, the first preset detection frame 3221 can be the first preset detection frame arranged in multiple preset detection frames. The first preset detection frame 3221 can be used to filter out the target ground area point cloud from the ground point cloud, and the regional plane normal vector can be obtained by plane fitting the target ground area point cloud.

[0062] According to an embodiment of the present disclosure, determining at least one preset detection frame based on the position of the soil removal line in the preset space includes: determining the detection frame position based on the trajectory point position of the soil removal line in the preset space; determining the target detection frame size corresponding to the detection frame position based on the soil removal line curvature at the trajectory point position; and setting the target preset detection frame with the target detection frame size at the detection frame position.

[0063] According to an embodiment of the present disclosure, the distance between the detection frame position and the track point position satisfies a preset distance threshold. For example, the distance between the detection frame position and the track point position may be 0, so as to set the preset detection frame on the track point of the dumping line.

[0064] According to an embodiment of the present disclosure, the soil removal line can be a curve, and the curvature of the soil removal line at the track point position can indicate the degree of curvature of the soil removal line at the track point position. Based on the soil removal line curvature at the track point position, determining the target detection frame size corresponding to the detection frame position can include calculating the target detection frame size in an inverse proportional relationship with the soil removal line curvature to ensure that the larger the soil removal line curvature at the track point position (the greater the degree of curvature), the smaller the target detection frame size, so that a target preset detection frame with a smaller target detection frame size can be set at the track point position where the curvature of the soil removal line is greater, so that the slope detection of the ground along the extension direction of the soil removal line can be performed in a relatively fine-grained manner to improve the accuracy of ground slope detection.

[0065] Figure 4 A schematic diagram of a preset detection frame according to an embodiment of the present disclosure is schematically shown.

[0066] like Figure 4 As shown, the soil discharge line 410 in the preset space is a curve, and multiple target preset detection frames can be arranged on the soil discharge line 410. Among them, the first target preset detection frame 401 and the second target preset detection frame 402 can be set on the straight line section of the soil discharge line 410, and the first target preset detection frame 401 and the second target preset detection frame 402 can have the same target detection frame size. The third target preset detection frame 403 and the fourth target preset detection frame 404 can be set on the curve section of the soil discharge line 410. The curvature of the trajectory point position set by the third target preset detection frame 403 and the fourth target preset detection frame 404 is different. The third target preset detection frame 403 and the fourth target preset detection frame 404 can set their respective target detection frame sizes according to the inverse proportion of the curvature of the trajectory point position, so that the third target preset detection frame 403 and the fourth target preset detection frame 404 are set on the curve section of the soil discharge line 410. In this way, the ground slope detection accuracy for the curved part of the soil discharge line can be improved to improve the detection accuracy.

[0067] In one example, in the case of a soil dumping line curve, the sizes of multiple preset detection frames may also be the same, so as to filter out the target ground area point cloud according to the same spatial range in the preset space.

[0068] According to an embodiment of the present disclosure, the environmental point cloud of the spoil dump to be detected includes a ground point cloud and a retaining wall point cloud. The first boundary extension direction of the first boundary of the preset detection frame is the same as the extension direction of the spoil dump line, and the distance between the first boundary and the spoil dump line is less than a preset distance threshold. The spoil dump line is obtained by processing the ground point cloud and the retaining wall point cloud.

[0069] According to an embodiment of the present disclosure, the first boundary of the preset detection frame may be parallel to or coincide with the soil removal line. The first boundary extension direction may be set as the positive direction of the X axis in the preset space, and the extension direction of the soil removal line is the same as the positive direction of the X axis.

[0070] It should be noted that the extension direction of the first boundary and the extension direction of the soil removal line can be any direction in the preset space, and the embodiments of the present disclosure do not limit the specific directions represented by the extension direction of the first boundary and the extension direction of the soil removal line.

[0071] According to an embodiment of the present disclosure, slope detection is performed based on the regional plane normal vector and a preset detection frame to obtain a ground slope detection result, including: determining the vertex coordinate difference information between the baseline vertex and the reference vertex of the preset detection frame; processing the vertex coordinate difference information based on the regional plane normal vector to obtain the ground slope detection result.

[0072] According to an embodiment of the present disclosure, the reference vertex and the reference vertex are adjacent vertices in the same boundary of a preset detection frame. For example, the reference vertex and the reference vertex are vertices of a first boundary of a preset detection frame, or the reference vertex and the reference vertex are vertices of a second boundary in the preset detection frame that intersects perpendicularly with the first boundary.

[0073] According to an embodiment of the present disclosure, the vertex coordinate difference information between the baseline vertex and the reference vertex of a preset detection box may include the coordinate difference between the coordinates of the baseline vertex and the reference vertex on any coordinate axis, and the vertex coordinate difference information may be represented based on the coordinate difference between the baseline vertex and the reference vertex.

[0074] According to an embodiment of the present disclosure, processing vertex coordinate difference information based on the regional plane normal vector may include processing the regional plane normal vector and vertex coordinate difference information based on a slope angle calculation formula, thereby obtaining a ground slope detection result. The ground slope detection result may include at least one of a cross slope detection result and a reverse slope detection result. The cross slope detection result and the reverse slope detection result may respectively identify the cross slope angle and reverse slope angle of the target ground area in the world coordinate system.

[0075] According to an embodiment of the present disclosure, the vertex coordinate difference information includes cross-slope coordinate difference information between a reference vertex and a cross-slope reference vertex, the reference vertex and the cross-slope reference vertex are located at a first boundary, and the reference vertex includes the cross-slope reference vertex.

[0076] According to an embodiment of the present disclosure, processing vertex coordinate difference information based on the regional plane normal vector to obtain a ground slope detection result includes: processing cross slope coordinate difference information based on at least one component of the regional plane normal vector to obtain a cross slope projection of the component on the first boundary; and determining the cross slope detection result based on the cross slope projection.

[0077] Figure 5 The principle diagram of the method for detecting the ground slope of a spoil dump according to an embodiment of the present disclosure is schematically shown.

[0078] like Figure 5 As shown, the preset detection box 501 in the preset space can be coplanar with the plane formed by the X-axis and the Y-axis. The preset detection box 501 may include four vertices, wherein the boundary between the reference vertex P1 and the cross slope reference vertex P4 is the first boundary of the preset detection box 501. The regional plane normal vector N may be the normal vector of the fitting plane 502 in the preset space, and the fitting plane 502 includes vertex P1', vertex P2', vertex P3, and vertex P4'. The fitting plane 502 may represent a plane in the preset space obtained by plane fitting the target ground area point cloud. The regional plane normal vector N may have normal vector components in the X-axis, Y-axis, and Z-axis, respectively. The regional plane normal vector N is represented as the first component n in the X-axis, Y-axis, and Z-axis, respectively. x , the second component n y and the third component n z .

[0079] According to an embodiment of the present disclosure, the cross slope coordinate difference information is processed based on at least one component of the regional plane normal vector to obtain the cross slope projection of the component on the first boundary. The first boundary as the length of the first edge vector V1 in the extension direction of the first boundary (for example, the X-axis direction) can be expressed as Among them, the vertex coordinates of the reference vertex P1 are (x1, y1), and the vertex coordinates of the cross slope reference vertex P4 are (x4, y4). By calculating the first component n x and the second component n y The respective projections onto the first side vector V1 can determine the cross slope projections of the components of the normal vector of the area plane.

[0080] According to an embodiment of the present disclosure, the cross slope detection result is determined based on the cross slope projection, and the cross slope detection result can be determined based on the first component n x The first cross slope projection, and the second component n y The second cross slope projection and the third component n zThe ratio between them is used to determine the cross slope detection result.

[0081] According to an embodiment of the present disclosure, the components of the regional plane normal vector include a first component corresponding to the first boundary extension direction and a second component corresponding to the second boundary extension direction, and a third component corresponding to the height direction, the second boundary extension direction is perpendicular to the extension direction of the soil discharge line and is coplanar with the preset detection frame, and the height direction is perpendicular to the preset detection frame.

[0082] According to an embodiment of the present disclosure, processing the cross slope coordinate difference information based on at least one component of the regional plane normal vector to obtain the cross slope projection of at least one component on the first boundary includes: determining the first cross slope projection of the first component on the first boundary based on the product between the first component and the first cross slope coordinate difference information; determining the second cross slope projection of the second component on the first boundary based on the product between the second component and the second cross slope coordinate difference information.

[0083] According to an embodiment of the present disclosure, the first cross slope coordinate difference information represents the coordinate difference between the reference vertex and the cross slope reference vertex in the first boundary extension direction. For example, the first cross slope coordinate difference information can be represented as the coordinate difference between the reference vertex and the cross slope reference vertex in the X-axis direction.

[0084] In one example, if Figure 5 As shown, the first cross-slope coordinate difference information may be expressed as a coordinate difference (x1-x4) between the reference vertex P1 and the cross-slope reference vertex P4 on the X-axis.

[0085] According to an embodiment of the present disclosure, the second cross slope coordinate difference information represents the coordinate difference between the reference vertex and the cross slope reference vertex in the second boundary extension direction. For example, the second cross slope coordinate difference information can be represented as the coordinate difference between the reference vertex and the cross slope reference vertex in the Y-axis direction.

[0086] In one example, if Figure 6 As shown, the second cross slope coordinate difference information may be represented as a coordinate difference (y1-y4) on the Y axis between the base vertex P1 and the cross slope reference vertex P2.

[0087] According to an embodiment of the present disclosure, the cross slope detection result is determined based on the ratio between the sum of the first cross slope projection and the second cross slope projection and the third component. For example, the cross slope detection result can be expressed based on the following formula (1).

[0088] SC1= (1);

[0089] In formula (1), represents the first cross slope projection, Represents the second cross slope projection. The vertex coordinates of the reference vertex P1 are (x1, y1), and the vertex coordinates of the cross slope reference vertex P4 are (x4, y4). The three components of the regional plane normal vector N are the first component n x , the second component n y and the third component n z , which can be understood as N=(n x , n y , n z SC1 is the cross slope detection result, which can be understood as the cross slope angle of the plane based on the point cloud fitting of the target ground area.

[0090] According to an embodiment of the present disclosure, the second boundary extension direction of the second boundary of the preset detection frame is perpendicular to the extension direction of the spoil line, and the second boundary includes a reference vertex and a reverse slope reference vertex, and the vertex coordinate difference information includes reverse slope coordinate difference information between the reference vertex and the reverse slope reference vertex.

[0091] According to an embodiment of the present disclosure, processing vertex coordinate difference information based on the regional plane normal vector to obtain a ground slope detection result includes: processing reverse slope coordinate difference information based on at least one component of the regional plane normal vector to obtain a reverse slope projection of the component on the second boundary; and determining a reverse slope detection result based on the reverse slope projection, wherein the ground slope detection result includes a reverse slope detection result.

[0092] Figure 6 The principle diagram of a method for detecting the ground slope of a spoil dump according to another embodiment of the present disclosure is schematically shown.

[0093] like Figure 6 As shown, the preset detection box 601 in the preset space can be coplanar with the plane formed by the X-axis and the Y-axis. The preset detection box 601 may include four vertices, wherein the boundary between the reference vertex P1 and the reverse slope reference vertex P2 is the second boundary of the preset detection box 601. The regional plane normal vector N may be the normal vector of the fitting plane 602 in the preset space, and the fitting plane 602 includes vertex P1', vertex P2', vertex P3, and vertex P4'. The fitting plane 602 may represent a plane in the preset space obtained by plane fitting of the target ground area point cloud. The regional plane normal vector N may have normal vector components in the X-axis, Y-axis, and Z-axis, respectively. The regional plane normal vector N is represented as the first component n in the X-axis, Y-axis, and Z-axis, respectively. x , the second component n y and the third component n z .

[0094] According to an embodiment of the present disclosure, the reverse slope coordinate difference information is processed based on at least one component of the regional plane normal vector to obtain the reverse slope projection of the component on the first boundary. The second boundary as the length of the second edge vector V2 in the extension direction of the second boundary (for example, the Y-axis direction) can be expressed as Among them, the vertex coordinates of the reference vertex P1 are (x1, y1), and the vertex coordinates of the reverse slope reference vertex P2 are (x2, y2). By calculating the first component n x and the second component n y The projection of each of the second edge vectors V2 on the second boundary can determine the inverse slope projection of the components of the region plane normal vector.

[0095] According to an embodiment of the present disclosure, the reverse slope detection result is determined based on the reverse slope projection, and the reverse slope detection result can be determined based on the first component n x The first reverse slope projection, and the second component n y The second reverse slope projection and the third component n z The reverse slope detection result is determined by the ratio between them.

[0096] According to an embodiment of the present disclosure, the components of the regional plane normal vector include a first component corresponding to the first boundary extension direction, a second component corresponding to the second boundary extension direction, and a third component corresponding to the height direction, the second boundary extension direction is perpendicular to the extension direction of the soil discharge line, and the height direction is perpendicular to the preset detection frame.

[0097] like Figure 6 As shown, the second boundary extension direction can be understood as the Y-axis direction, and the extension direction of the soil discharge line can be understood as the X-axis direction. The second boundary extension direction is perpendicular to the extension direction of the soil discharge line. The height direction can be, for example, the Z-axis direction.

[0098] According to an embodiment of the present disclosure, the reverse slope coordinate difference information is processed based on at least one component of the regional plane normal vector to obtain the reverse slope projection of at least one component on the second boundary, including: determining the first reverse slope projection of the first component on the second boundary based on the product between the first component and the first reverse slope coordinate difference information; determining the second reverse slope projection of the second component on the second boundary based on the product between the second component and the second reverse slope coordinate difference information.

[0099] According to an embodiment of the present disclosure, the first reverse slope coordinate difference information represents the coordinate difference between the base vertex and the reverse slope reference vertex in the first boundary extension direction. For example, the first reverse slope coordinate difference information can be represented as the coordinate difference between the base vertex and the reverse slope reference vertex in the X-axis direction.

[0100] In one example, if Figure 6 As shown, the first reverse slope coordinate difference information may be represented as a coordinate difference (x1-x2) between the base vertex P1 and the reverse slope reference vertex P2 on the X-axis.

[0101] According to an embodiment of the present disclosure, the second reverse slope coordinate difference information represents the coordinate difference between the reference vertex and the reverse slope reference vertex in the second boundary extension direction. For example, the second reverse slope coordinate difference information can be represented as the coordinate difference between the reference vertex and the reverse slope reference vertex in the Y-axis direction.

[0102] In one example, if Figure 6 As shown, the second reverse slope coordinate difference information may be represented as a coordinate difference (y1-y2) between the base vertex P1 and the reverse slope reference vertex P2 on the Y axis.

[0103] According to an embodiment of the present disclosure, the reverse slope detection result is determined based on the ratio between the sum of the first reverse slope projection and the second reverse slope projection and the third component. For example, the reverse slope detection result can be expressed based on the following formula (2).

[0104] SC2= (2);

[0105] In formula (2), represents the first back slope projection, represents the second reverse slope projection. The vertex coordinates of the reference vertex P1 are (x1, y1), and the vertex coordinates of the reverse slope reference vertex P4 are (x4, y4). The three components of the regional plane normal vector N are the first component n x , the second component n y and the third component n z , which can be understood as N=(n x , n y , n z SC2 is the reverse slope detection result, which can be understood as the reverse slope angle of the plane based on the point cloud fitting of the target ground area.

[0106] Figure 7 A schematic diagram of ground slope detection results according to an embodiment of the present disclosure is schematically shown.

[0107] like Figure 7As shown, the soil discharge line 710 in the preset space is a curve, and the ground slope detection results corresponding to the multiple target preset detection frames can be arranged on the soil discharge line 710. Among them, the first ground slope detection result 701 and the second ground slope detection result 702 can be based on white to indicate that the cross slope detection result is qualified or the reverse slope detection result is qualified. The third ground slope detection result 703 and the fourth ground slope detection result 704 can have different curvatures of the trajectory point positions set respectively, and the third ground slope detection result 703 and the fourth ground slope detection result 704 can be represented based on gray. The cross slope detection results of the target ground area corresponding to the third ground slope detection result 703 and the fourth ground slope detection result 704 are unqualified, or the reverse slope detection results corresponding to the third ground slope detection result 703 and the fourth ground slope detection result 704 are unqualified. The first ground slope detection result 701, the second ground slope detection result 702, the third ground slope detection result 703 and the fourth ground slope detection result 704 can be displayed in the interactive interface 700 to conveniently and accurately represent the ground slope detection results and improve the detection efficiency of the current ground slope of the spoil dump.

[0108] In one example, the method for detecting the ground slope of a spoil dump may be performed based on the following steps S1 to S4.

[0109] Step S1: Execute the data collection task. Control a vehicle equipped with a laser radar collection device to drive in the spoil dump to be detected and collect point cloud data.

[0110] Step S2: Execute the preset detection frame generation task. Based on the environmental point cloud collected in step S1, determine the soil discharge line in the preset space, and set multiple preset detection frames on the soil discharge line. Step S2 can be executed based on the following steps S2.1 to S2.4.

[0111] In step S2.1, the ground point cloud and the retaining wall point cloud are extracted from the environment point cloud.

[0112] In step S2.2, a boundary edge line between the ground point cloud and the retaining wall point cloud is determined based on the ground point cloud and the retaining wall point cloud.

[0113] In step S2.3, the boundary edge line close to the retaining wall area is used as the soil discharge line.

[0114] In step S2.3, a preset detection frame is set at a certain distance along the soil discharge line, and each preset detection frame is composed of four vertices, and the four vertices are P1 to P4.

[0115] Step S3: Perform the ground slope calculation task. Based on the preset detection frame generated in step S2, calculate the ground slope detection result corresponding to each preset detection frame, and the specific steps are performed based on the following steps S3.1 to S3.2.

[0116] Step S3.1, obtain the initial ground area point cloud within the preset detection frame, filter out the point cloud noise in the initial ground area point cloud, and perform voxel downsampling operation to obtain the target ground area point cloud.

[0117] Step S3.2, perform least squares calculation on the target ground area point cloud in the preset detection frame to perform plane fitting on the target ground area point cloud, and calculate the regional plane normal vector N=(n x , n y , n z ). Then, according to the above formula (2), the cross slope of the target ground area is calculated. ;

[0118] Step S4: Displaying the cross slope detection results. The cross slope calculation results of step S3 are displayed as cross slope detection results in the interactive interface in the vehicle used to collect the environmental point cloud. Different colors are used to indicate whether the cross slope detection results are qualified or unqualified, so as to prompt relevant personnel to carry out engineering repairs on the unqualified target ground areas.

[0119] According to the method for detecting the ground slope of the spoil dump provided by the embodiment of the present disclosure, by adopting point cloud acquisition technology such as laser radar, it is possible to achieve rapid and efficient acquisition of ground morphological data of the spoil dump environment to be detected, which can greatly increase the number of measurement points, thereby reducing the ground slope measurement error in the spoil dump environment. At the same time, based on the environmental point cloud acquisition during the driving process of the operating mine car or other operating vehicles, the environmental point cloud of the spoil dump to be detected can be obtained more conveniently and timely, and the ground slope detection results corresponding to one or more target ground areas can be automatically determined, thereby meeting the timeliness and precise measurement requirements of modern mining for relevant ground slope detection. The ground slope detection results obtained in a timely manner can help the mining operation environment to discover the problem of unqualified ground slope in the mining area more promptly, so as to improve the overall safety of the mining operation scene.

[0120] Figure 8 A block diagram of a device for detecting the ground slope of a spoil dump according to an embodiment of the present disclosure is schematically shown.

[0121] like Figure 8 As shown, the device 800 for detecting the ground slope of a spoil dump includes an acquisition module 810 , a first determination module 820 , a regional plane normal vector acquisition module 830 and a slope detection module 840 .

[0122] The acquisition module 810 is used to acquire the environmental point cloud of the spoil dump to be detected.

[0123] The first determination module 820 is used to determine the target ground area point cloud from the environmental point cloud based on the preset detection frame, wherein the target ground area point cloud is used to characterize the target ground area corresponding to the preset detection frame in the spoil dump to be detected.

[0124] The regional plane normal vector obtaining module 830 is used to perform plane fitting on the target ground region point cloud to obtain the regional plane normal vector corresponding to the target ground region.

[0125] The slope detection module 840 is used to perform slope detection based on the regional plane normal vector and a preset detection frame to obtain a ground slope detection result.

[0126] According to an embodiment of the present disclosure, the environmental point cloud of the spoil dump to be detected includes a ground point cloud and a retaining wall point cloud. The first boundary extension direction of the first boundary of the preset detection frame is the same as the extension direction of the spoil dump line, and the distance between the first boundary and the spoil dump line is less than a preset distance threshold. The spoil dump line is obtained by processing the ground point cloud and the retaining wall point cloud.

[0127] According to an embodiment of the present disclosure, the slope detection module 840 includes: a first determination submodule and a ground slope detection result acquisition submodule.

[0128] The first determination submodule is used to determine vertex coordinate difference information between a base vertex and a reference vertex of a preset detection frame, wherein the base vertex and the reference vertex are adjacent vertices in the same boundary of the preset detection frame.

[0129] The ground slope detection result acquisition submodule is used to process vertex coordinate difference information based on the regional plane normal vector to obtain the ground slope detection result.

[0130] According to an embodiment of the present disclosure, the vertex coordinate difference information includes cross-slope coordinate difference information between a reference vertex and a cross-slope reference vertex, the reference vertex and the cross-slope reference vertex are located at a first boundary, and the reference vertex includes the cross-slope reference vertex.

[0131] According to an embodiment of the present disclosure, the ground slope detection result obtaining submodule includes: a transverse slope projection obtaining unit and a transverse slope detection result determining unit.

[0132] The cross slope projection obtaining unit is used to process the cross slope coordinate difference information based on at least one component of the regional plane normal vector to obtain the cross slope projection of the component on the first boundary.

[0133] The transverse slope detection result determination unit is used to determine the transverse slope detection result based on the transverse slope projection, wherein the ground slope detection result includes the transverse slope detection result.

[0134] According to an embodiment of the present disclosure, the components of the regional plane normal vector include a first component corresponding to the first boundary extension direction and a second component corresponding to the second boundary extension direction, and a third component corresponding to the height direction, the second boundary extension direction is perpendicular to the extension direction of the soil discharge line and coplanar with the preset detection frame, and the height direction is perpendicular to the preset detection frame.

[0135] According to an embodiment of the present disclosure, the transverse slope projection obtaining unit includes: a first determining subunit and a second determining subunit.

[0136] The first determination subunit is used to determine the first cross slope projection of the first component on the first boundary based on the product between the first component and the first cross slope coordinate difference information, wherein the first cross slope coordinate difference information represents the coordinate difference between the reference vertex and the cross slope reference vertex in the extension direction of the first boundary.

[0137] The second determination subunit is used to determine the second cross slope projection of the second component on the first boundary based on the product between the second component and the second cross slope coordinate difference information, wherein the second cross slope coordinate difference information represents the coordinate difference between the reference vertex and the cross slope reference vertex in the extension direction of the second boundary; wherein the cross slope detection result is determined based on the ratio between the sum of the first cross slope projection and the second cross slope projection and the third component.

[0138] According to an embodiment of the present disclosure, the second boundary extension direction of the second boundary of the preset detection frame is perpendicular to the extension direction of the spoil line, and the second boundary includes a reference vertex and a reverse slope reference vertex, and the vertex coordinate difference information includes reverse slope coordinate difference information between the reference vertex and the reverse slope reference vertex.

[0139] According to an embodiment of the present disclosure, the ground slope detection result obtaining submodule includes: a reverse slope projection obtaining unit and a reverse slope detection result obtaining unit.

[0140] The reverse slope projection obtaining unit is used to process the reverse slope coordinate difference information based on at least one component of the regional plane normal vector to obtain the reverse slope projection of the component on the second boundary.

[0141] The reverse slope detection result obtaining unit is used to determine the reverse slope detection result based on the reverse slope projection, wherein the ground slope detection result includes the reverse slope detection result.

[0142] According to an embodiment of the present disclosure, the components of the regional plane normal vector include a first component corresponding to the first boundary extension direction, a second component corresponding to the second boundary extension direction, and a third component corresponding to the height direction, the second boundary extension direction is perpendicular to the extension direction of the soil discharge line, and the height direction is perpendicular to the preset detection frame.

[0143] According to an embodiment of the present disclosure, the reverse slope projection obtaining unit includes: a third determining subunit and a fourth determining subunit.

[0144] The third determination subunit is used to determine the first reverse slope projection of the first component on the second boundary based on the product of the first component and the first reverse slope coordinate difference information, wherein the first reverse slope coordinate difference information represents the coordinate difference between the reference vertex and the reverse slope reference vertex in the extension direction of the first boundary.

[0145] The fourth determination subunit is used to determine the second reverse slope projection of the second component on the second boundary based on the product between the second component and the second reverse slope coordinate difference information, wherein the second reverse slope coordinate difference information represents the coordinate difference between the benchmark vertex and the reverse slope reference vertex in the extension direction of the second boundary; wherein the reverse slope detection result is determined based on the ratio between the sum of the first reverse slope projection and the second reverse slope projection and the third component.

[0146] According to an embodiment of the present disclosure, the device for detecting the ground slope of a dumping site further includes: a second determination module, a dumping line acquisition module and a third determination module.

[0147] The second determination module is used to determine the ground point cloud and the retaining wall point cloud from the environmental point cloud according to the point cloud position of the environmental point cloud in the preset space.

[0148] The soil discharge line acquisition module is used to fit the point cloud coordinates of the ground point cloud and the retaining wall point cloud to obtain the soil discharge line in the preset space.

[0149] The third determination module is used to determine at least one preset detection frame based on the position of the soil removal line in the preset space.

[0150] According to an embodiment of the present disclosure, the third determination module includes: a detection frame position determination submodule, a target detection frame size determination submodule and a setting submodule.

[0151] A detection frame position determination submodule, used to determine the detection frame position based on the track point position of the soil discharge line in the preset space, wherein the distance between the detection frame position and the track point position satisfies a preset distance threshold;

[0152] A target detection frame size determination submodule, for determining a target detection frame size corresponding to the detection frame position based on a discharge line curvature of the discharge line at a trajectory point position; and

[0153] The setting submodule is used to set a target preset detection frame having a target detection frame size at a detection frame position.

[0154] It should be noted that the device part for detecting the slope of the ground of the spoil dump in the embodiment of the present disclosure corresponds to the method part for detecting the slope of the ground of the spoil dump in the embodiment of the present disclosure. The description of the device part for detecting the slope of the ground of the spoil dump refers to the method part for detecting the slope of the ground of the spoil dump, which will not be repeated here.

[0155] Fig. 9 A block diagram of an electronic device suitable for implementing a method for detecting the slope of a spoil dump according to an embodiment of the present disclosure is schematically shown. Fig. 9 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0156] like Fig. 9 As shown, the electronic device 900 according to an embodiment of the present disclosure includes a processor 901, which can perform various appropriate actions and processes according to the program stored in () ROM (read-only memory) 902 or the program loaded from the storage part 908 to the RAM (random access memory) 903. The processor 901 may include, for example, a general-purpose microprocessor (such as a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (for example, an application-specific integrated circuit (ASIC)), etc. The processor 901 may also include an on-board memory for caching purposes. The processor 901 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0157] In RAM 903, various programs and data required for the operation of electronic device 900 are stored. Processor 901, ROM 902 and RAM 903 are connected to each other via bus 904. Processor 901 performs various operations of the method flow according to the embodiment of the present disclosure by executing the program in ROM 902 and / or RAM 903. It should be noted that the program can also be stored in one or more memories other than ROM 902 and RAM 903. Processor 901 can also perform various operations of the method flow according to the embodiment of the present disclosure by executing the program stored in the one or more memories.

[0158] According to an embodiment of the present disclosure, the electronic device 900 may further include an input / output (I / O) interface 905, which is also connected to the bus 904. The electronic device 900 may further include one or more of the following components connected to the input / output (I / O) interface 905: an input portion 906 including a keyboard, a mouse, etc.; an output portion 907 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 908 including a hard disk, etc.; and a communication portion 909 including a network interface card such as a LAN card, a modem, etc. The communication portion 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to the input / output (I / O) interface 905 as needed. A removable medium 911, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 910 as needed, so that a computer program read therefrom is installed into the storage portion 908 as needed.

[0159] According to an embodiment of the present disclosure, the method flow according to an embodiment of the present disclosure can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 909, and / or installed from the removable medium 911. When the computer program is executed by the processor 901, the above-mentioned functions defined in the system of the embodiment of the present disclosure are executed. According to an embodiment of the present disclosure, the system, equipment, device, module, unit, etc. described above can be implemented by a computer program module.

[0160] The present disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present disclosure is implemented.

[0161] According to an embodiment of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium. For example, it may include, but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, apparatus, or device.

[0162] For example, according to an embodiment of the present disclosure, the computer-readable storage medium may include the ROM 902 and / or the RAM 903 described above and / or one or more memories other than the ROM 902 and the RAM 903 .

[0163] An embodiment of the present disclosure also includes a computer program product, which includes a computer program, and the computer program contains program code for executing the method provided by the embodiment of the present disclosure. When the computer program product runs on an electronic device, the program code is used to enable the electronic device to implement the method for detecting the slope of the spoil dump provided by the embodiment of the present disclosure.

[0164] When the computer program is executed by the processor 901, the above functions defined in the system / device of the embodiment of the present disclosure are executed. According to the embodiment of the present disclosure, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0165] In one embodiment, the computer program may be based on a tangible storage medium such as an optical storage device, a magnetic storage device, etc. In another embodiment, the computer program may also be transmitted and distributed in the form of a signal on a network medium, and downloaded and installed through the communication part 909, and / or installed from a removable medium 911. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0166] According to an embodiment of the present disclosure, the program code for executing the computer program provided by the embodiment of the present disclosure can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level process and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, Java, C++, python, "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on the remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect through the Internet).

[0167] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions. It can be understood by those skilled in the art that the features recorded in the various embodiments of the present disclosure can be combined and / or combined in a variety of ways, even if such a combination or combination is not explicitly recorded in the present disclosure. In particular, without departing from the spirit and teaching of the present disclosure, the features described in the various embodiments of the present disclosure may be combined and / or combined in a variety of ways. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0168] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A method for detecting the ground slope of a spoil dump, comprising: Obtain the environmental point cloud of the spoil dump to be detected; Determine a target ground area point cloud from the environmental point cloud based on a preset detection frame, wherein the target ground area point cloud is used to characterize the target ground area corresponding to the preset detection frame in the spoil dump to be detected; Performing plane fitting on the target ground area point cloud to obtain a regional plane normal vector corresponding to the target ground area; and Slope detection is performed based on the regional plane normal vector and the preset detection frame to obtain a ground slope detection result.

2. The method according to claim 1, wherein: The environmental point cloud of the spoil dump to be detected includes a ground point cloud and a retaining wall point cloud, the first boundary extension direction of the first boundary of the preset detection frame is the same as the extension direction of the spoil dump line, and the distance between the first boundary and the spoil dump line is less than a preset distance threshold, and the spoil dump line is obtained by processing the ground point cloud and the retaining wall point cloud; The step of performing slope detection based on the regional plane normal vector and the preset detection frame to obtain a ground slope detection result includes: Determine vertex coordinate difference information between a base vertex and a reference vertex of the preset detection frame, wherein the base vertex and the reference vertex are adjacent vertices in the same boundary of the preset detection frame; The vertex coordinate difference information is processed based on the regional plane normal vector to obtain the ground slope detection result.

3. The method according to claim 2, wherein: The vertex coordinate difference information includes cross-slope coordinate difference information between a reference vertex and a cross-slope reference vertex, the reference vertex and the cross-slope reference vertex are located at the first boundary, and the reference vertex includes a cross-slope reference vertex; Wherein, the processing of the vertex coordinate difference information based on the regional plane normal vector to obtain the ground slope detection result includes: Processing the cross slope coordinate difference information based on at least one component of the regional plane normal vector to obtain a cross slope projection of the component on the first boundary; and A cross slope detection result is determined based on the cross slope projection, wherein the ground slope detection result includes the cross slope detection result.

4. The method according to claim 3, wherein: The components of the regional plane normal vector include a first component corresponding to the first boundary extension direction, a second component corresponding to the second boundary extension direction, and a third component corresponding to the height direction, wherein the second boundary extension direction is perpendicular to the extension direction of the dumping line and is coplanar with the preset detection frame, and the height direction is perpendicular to the preset detection frame; Wherein, processing the cross slope coordinate difference information based on at least one component of the regional plane normal vector to obtain the cross slope projection of the component on the first boundary includes: Determine a first cross slope projection of the first component on the first boundary based on the product of the first component and first cross slope coordinate difference information, wherein the first cross slope coordinate difference information represents the coordinate difference between the reference vertex and the cross slope reference vertex in the extension direction of the first boundary; Determine a second cross slope projection of the second component on the first boundary based on the product of the second component and second cross slope coordinate difference information, wherein the second cross slope coordinate difference information represents the coordinate difference between the reference vertex and the cross slope reference vertex in the extension direction of the second boundary; The transverse slope detection result is determined based on the ratio between the sum of the first transverse slope projection and the second transverse slope projection and the third component.

5. The method according to claim 2, wherein: The second boundary extension direction of the second boundary of the preset detection frame is perpendicular to the extension direction of the dumping line, and the second boundary includes the reference vertex and the reverse slope reference vertex, and the vertex coordinate difference information includes the reverse slope coordinate difference information between the reference vertex and the reverse slope reference vertex; Wherein, the processing of the vertex coordinate difference information based on the regional plane normal vector to obtain the ground slope detection result includes: Processing the reverse slope coordinate difference information based on at least one component of the regional plane normal vector to obtain a reverse slope projection of the component on the second boundary; and A reverse slope detection result is determined based on the reverse slope projection, wherein the ground slope detection result includes the reverse slope detection result.

6. The method according to claim 5, wherein: The components of the regional plane normal vector include a first component corresponding to the first boundary extension direction, a second component corresponding to the second boundary extension direction, and a third component corresponding to the height direction, wherein the second boundary extension direction is perpendicular to the extension direction of the dumping line, and the height direction is perpendicular to the preset detection frame; The step of processing the reverse slope coordinate difference information based on at least one component of the regional plane normal vector to obtain the reverse slope projection of the component on the second boundary includes: Determine a first reverse slope projection of the first component on the second boundary based on the product of the first component and first reverse slope coordinate difference information, wherein the first reverse slope coordinate difference information represents the coordinate difference between the base vertex and the reverse slope reference vertex in the extension direction of the first boundary; Determine a second reverse slope projection of the second component on the second boundary based on the product of the second component and second reverse slope coordinate difference information, wherein the second reverse slope coordinate difference information represents the coordinate difference between the reference vertex and the reverse slope reference vertex in the extension direction of the second boundary; The reverse slope detection result is determined based on the ratio between the sum of the first reverse slope projection and the second reverse slope projection and the third component.

7. The method according to claim 1 or 2, further comprising: Determine the ground point cloud and the retaining wall point cloud from the environmental point cloud according to the point cloud position of the environmental point cloud in the preset space; Fitting the point cloud coordinates of the ground point cloud and the retaining wall point cloud to obtain a soil discharge line in the preset space; as well as At least one of the preset detection frames is determined based on the position of the soil removal line in the preset space.

8. The method according to claim 7, wherein: The determining of at least one of the preset detection frames based on the position of the soil removal line in the preset space comprises: Determine the position of the detection frame based on the position of the track point of the soil removal line in the preset space, wherein the distance between the position of the detection frame and the position of the track point satisfies a preset distance threshold; Determining a target detection frame size corresponding to the detection frame position based on a removal line curvature of the removal line at the trajectory point position; and A target preset detection frame having the target detection frame size is set at the detection frame position.

9. A device for detecting the ground slope of a spoil dump, comprising: An acquisition module is used to acquire the environmental point cloud of the spoil dump to be detected; A first determination module is used to determine a target ground area point cloud from the environmental point cloud based on a preset detection frame, wherein the target ground area point cloud is used to characterize a target ground area corresponding to the preset detection frame in the spoil dump to be detected; A regional plane normal vector obtaining module, used for performing plane fitting on the target ground area point cloud to obtain a regional plane normal vector corresponding to the target ground area; and The slope detection module is used to perform slope detection based on the regional plane normal vector and the preset detection frame to obtain a ground slope detection result.

10. An electronic device, comprising: one or more processors; a memory for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 8.

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