Path evaluation method and device, engineering machinery and storage medium

Abstract

The invention provides a path evaluation method and device, engineering machinery and a storage medium. The path evaluation method comprises the following steps: evaluating whether the engineering machinery can execute a mining task on each working point in a mining path provided by a path planning model or not; according to an evaluation result, determining working points, capable of executing the mining task, of the engineering machinery in the mining path and the proportion of the working points in all the working points in the mining path; and under the condition that the proportion is greater than a preset proportion threshold value, judging that the mining path can be used for the mining task.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent mining, and in particular to a path evaluation method and device, engineering machinery, and a storage medium. Background Art

[0002] In recent years, with the rapid development of artificial intelligence and autonomous driving, intelligent excavation systems have been increasingly used in industries such as construction and mining. Intelligent excavation systems use sensors such as lidar to obtain environmental information and use corresponding algorithms to guide the operation of heavy equipment such as excavators.

[0003] After applying the motion planning of robotic arms in robotics to multi-jointed construction machinery, autonomous operation becomes possible. However, a quantitative evaluation standard is needed to determine whether the result of a motion planning is executed. The evaluation standard for a single excavation path of an excavator during fixed-point excavation is currently based on the full bucket rate, that is, the ratio of a single excavation volume to the bucket volume, as an evaluation indicator. Summary of the invention

[0004] The inventors have noticed that in the related art, the evaluation method of the planned path has the following defects.

[0005] 1. The evaluation indicators for single mining are relatively simple and cannot effectively evaluate the paths generated based on AI (Artificial Intelligence).

[0006] 2. To determine the amount of excavated materials, it is necessary to combine the real feedback of the environment after the excavation action. At the same time, there are many requirements for the type, quality or quantity of sensors, which makes it difficult to control costs.

[0007] Accordingly, the present disclosure provides a path evaluation method, which can easily and quickly determine whether the excavation path provided by the path planning model can be used for the current excavation task.

[0008] In a first aspect of the present disclosure, a path evaluation method is provided, comprising: evaluating whether an engineering machinery can perform an excavation task at each work point in an excavation path provided by a path planning model; determining, based on the evaluation result, the proportion of the work points in the excavation path at which the engineering machinery can perform the excavation task, among all the work points in the excavation path; and determining, when the proportion is greater than a predetermined proportion threshold, that the excavation path can be used for the excavation task.

[0009] In some embodiments, the evaluating whether the engineering machine can perform the excavation task at each working point in the excavation path provided by the path planning model comprises: evaluating whether the engineering machine can perform the excavation task at the i-th working point in the excavation path according to the posture of the engineering machine when performing the excavation task at the i-th working point, , N is the total number of working points.

[0010] In some embodiments, the evaluating whether the engineering machinery is capable of performing the excavation task at the i-th work point includes: when the excavation path is a path described in a configuration space, evaluating whether a first joint angle associated with the posture of the engineering machinery when performing the excavation task at the i-th work point is within a predetermined angle range; if the first joint angle is within the predetermined angle range, determining that the engineering machinery is capable of performing the excavation task at the i-th work point.

[0011] In some embodiments, if the first joint angle is not within a predetermined angle range, it is determined that the engineering machine cannot perform the excavation task at the i-th working point.

[0012] In some embodiments, the first joint angle includes at least one of an excavator boom angle, a stick angle, and a bucket angle.

[0013] In some embodiments, the evaluation of whether the engineering machinery is capable of performing the excavation task at the i-th working point includes: when the excavation path is a path described by a workspace, performing an inverse kinematic solution on the posture of the engineering machinery at the i-th working point; if the posture of the engineering machinery at the i-th working point can be successfully inversely kinematically solved, then it is determined that the engineering machinery is capable of performing the excavation task at the i-th working point.

[0014] In some embodiments, if the posture of the engineering machine at the i-th working point cannot be successfully kinematically inverse solved, it is determined that the engineering machine cannot perform the excavation task at the i-th working point.

[0015] In some embodiments, the posture of the engineering machine at the i-th working point is determined by the coordinates of the bucket tooth tip in the working space and the bucket angle.

[0016] In some embodiments, in the excavation path, the working points where the engineering machine cannot perform the excavation task are deleted to obtain a path to be processed; in the path to be processed, the sum of the deviations greater than 0 of the second joint angles of the engineering machine at every two adjacent working points is calculated; if the sum is less than a predetermined deviation and a threshold value, it is determined that when the engineering machine performs the excavation task on the excavation path, the second joint angle is in a smooth state.

[0017] In some embodiments, if the sum is not less than a predetermined deviation and a threshold, it is determined that when the engineering machine performs the excavation task on the excavation path, the second joint angle is in a non-smooth state.

[0018] In some embodiments, the second joint angle includes at least one of a bucket angle and an arm angle of the engineering machine.

[0019] In some embodiments, a statistical value of the deviation between the posture-related variables of the engineering machinery at each working point in the excavation path and the posture-related variables of the corresponding working point of the engineering machinery in the predetermined planned path is calculated; if the statistical value is less than a predetermined statistical value threshold, it is determined that the excavation path can be used for the excavation task.

[0020] In some embodiments, the statistical value includes at least one of a mean and a variance of the deviation.

[0021] In some embodiments, a terrain curve is extracted from a point cloud of an excavation area; the area of ​​a closed area formed by the excavation path and the terrain curve is determined as an excavation area; a ratio of the excavation area to a predetermined excavation area is calculated; and if the ratio is within a predetermined ratio range, it is determined that the excavation path can be used for the excavation task.

[0022] In a second aspect of the present disclosure, a path evaluation device is provided, comprising: a memory; a processor, coupled to the memory, the processor being configured to execute the path evaluation method as described in any of the above embodiments based on instructions stored in the memory.

[0023] In a third aspect of the present disclosure, there is provided a construction machinery, comprising: a path evaluation device as described in any of the above embodiments; a point cloud acquisition device, configured to acquire a point cloud of an excavation area; a path generation device, configured to process the point cloud of the excavation area using a path planning model to generate an excavation path, and send the excavation path to the path evaluation device.

[0024] In a fourth aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the method described in any of the above embodiments is implemented.

[0025] In a fifth aspect of the present disclosure, a computer program product is provided, comprising computer instructions, wherein when the computer instructions are executed by a processor, the method described in any of the above embodiments is implemented.

[0026] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0028] Figure 1 A schematic diagram of a flow chart of a path evaluation method according to an embodiment of the present disclosure;

[0029] Figure 2 A schematic diagram of a two-dimensional on-vehicle coordinate system of an excavator according to an embodiment of the present disclosure;

[0030] Figure 3 A schematic diagram of a flow chart of a path evaluation method according to another embodiment of the present disclosure;

[0031] Figure 4 A schematic diagram of a flow chart of a path evaluation method according to another embodiment of the present disclosure;

[0032] Figure 5 A schematic diagram of a flow chart of a path evaluation method according to another embodiment of the present disclosure;

[0033] Figure 6 A schematic diagram of path planning according to an embodiment of the present disclosure;

[0034] Figure 7 A schematic diagram of the excavation area according to an embodiment of the present disclosure;

[0035] Figure 8 A schematic diagram of the structure of a path evaluation device according to an embodiment of the present disclosure;

[0036] Fig. 9 The figure is a schematic diagram of the structure of an engineering machinery according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0038] Unless specifically stated otherwise, the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0039] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0040] Technologies, methods, and apparatus known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, such technologies, methods, and apparatus should be considered part of the authorization specification.

[0041] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0042] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0043] The technical terms involved in the present disclosure are as follows.

[0044] Configuration space: In robotics, it is a space that describes all possible angles or positions of all joints of a robot. This space can be used to plan the robot's motion path, avoid obstacles, etc.

[0045] Workspace: In robotics, it describes the set of all points that an end effector can reach.

[0046] The direct solution of kinematics: in robotics, given the variables in the configuration space, calculate the variables in the workspace; the inverse solution is the opposite, given the variables in the workspace, calculate the variables in the configuration space.

[0047] Motion planning: In robotics and automation, the calculation of the path or trajectory of a mechanical system from a starting state to a target state. A path is a series of discrete points in space that represent the path of a robot or object from a starting point to a target point, without considering time, and only focusing on the geometry of the space. Adding the time dimension to the path results in a trajectory.

[0048] Figure 1 The following is a flow chart of a path evaluation method according to an embodiment of the present disclosure. In some embodiments, the following path evaluation method is performed by a path evaluation device, including steps 11-13.

[0049] In step 11, it is evaluated whether the construction machine can perform the excavation task at each working point in the excavation path provided by the path planning model.

[0050] It should be noted here that the path planning model is a trained machine learning model that can generate the corresponding mining path based on the collected point cloud data.

[0051] For example, construction machinery includes excavators.

[0052] In some embodiments, according to the posture of the engineering machine when performing the excavation task at the i-th working point in the excavation path, it is evaluated whether the engineering machine can perform the excavation task at the i-th working point. , N is the total number of working points.

[0053] It should be noted here that during the excavation stage, the rotary joint of the excavator remains unchanged in standard operations. Therefore, the rotation center of the excavator can be used as the coordinate origin to simplify the position coordinates from three-dimensional space to two-dimensional space, such as Figure 2 shown.

[0054] In addition, the minimum number of variables required to determine the unique posture of the excavator is three, which are the boom angle in the configuration space , arm angle , and bucket angle ; In the workspace, it is the x-axis and z-axis coordinates of the bucket tooth tip in space, and the bucket angle is added To determine the unique posture. Within the feasible range, the two sets of variables can be transformed into each other using the kinematic forward and inverse solutions.

[0055] In some embodiments, when the excavation path is a path described in a configuration space, it is evaluated whether the first joint angle associated with the posture of the engineering machine when performing the excavation task at the i-th working point is within a predetermined angle range. If the first joint angle is within the predetermined angle range, it is determined that the engineering machine can perform the excavation task at the i-th working point. If the first joint angle is not within the predetermined angle range, it is determined that the engineering machine cannot perform the excavation task at the i-th working point.

[0056] In some embodiments, the first joint angle includes at least one of an excavator boom angle, an arm angle, and a bucket angle.

[0057] It should be noted here that when the construction machinery performs the excavation task at the i-th working point, if the excavator boom angle, dipper arm angle and bucket angle are greater than the predetermined threshold, it means that the construction machinery needs to break through the excavator boom angle, dipper arm angle and bucket angle restrictions in order to complete the excavation task at the i-th working point. Since the excavator boom, dipper arm and bucket can only move within the specified angle, in this case, the construction machinery cannot perform the excavation task at the i-th working point.

[0058] In some embodiments, when the excavation path is a path described in a workspace, the posture of the engineering machine at the i-th working point is subjected to an inverse kinematic solution. If the posture of the engineering machine at the i-th working point can be successfully subjected to an inverse kinematic solution, it is determined that the engineering machine can perform the excavation task at the i-th working point. If the posture of the engineering machine at the i-th working point cannot be successfully subjected to an inverse kinematic solution, it is determined that the engineering machine cannot perform the excavation task at the i-th working point.

[0059] For example, the posture of the construction machinery at the i-th working point is determined by the coordinates of the bucket tooth tip in the working space and the bucket angle.

[0060] In step 12, based on the evaluation result, the proportion of the working points in the excavation path where the engineering machinery can perform the excavation task is determined among all the working points in the excavation path.

[0061] In step 13, when the proportion is greater than a predetermined proportion threshold, it is determined that the excavation path can be used for the excavation task.

[0062] It should be noted that if the construction machinery can perform the excavation task at the i-th working point, it can be considered that the i-th working point has the feasibility of the excavation task. Otherwise, it is considered that the i-th working point does not have the feasibility of the excavation task.

[0063] For example, the excavation path includes 10 discrete work points. Among these 10 work points, 9 work points have the feasibility of the excavation task, that is, the work points with the feasibility of the excavation task account for 90% of all the work points in the excavation path. In this case, the excavation path can be considered to be able to be used for the excavation task.

[0064] For another example, the excavation path includes 10 discrete work points. Among these 10 work points, 4 work points have the feasibility of the excavation task, that is, the work points with the feasibility of the excavation task account for only 40% of all the work points in the excavation path. In this case, it can be considered that the excavation path cannot be used for the excavation task.

[0065] In the path evaluation method provided in the above embodiment of the present disclosure, by evaluating whether each discrete work point in the excavation path has the feasibility of the excavation task, and based on the proportion of work points with the feasibility of the excavation task in all work points in the excavation path, it is possible to easily and quickly determine whether the excavation path provided by the path planning model can be used for the current excavation task.

[0066] In some embodiments, based on determining whether the excavation path can be used for the excavation task, the smoothness of the joint angles may be further detected so as to select an excavation path that is more conducive to the engineering machinery performing the excavation task.

[0067] Figure 3 FIG. 1 is a flow chart of a path evaluation method according to another embodiment of the present disclosure. In some embodiments, the following path evaluation method is performed by a path evaluation device, including steps 31-33.

[0068] In step 31, in the excavation path, the working points where the engineering machine cannot perform the excavation task are deleted to obtain a path to be processed.

[0069] In step 32 , in the path to be processed, the sum of the deviations greater than 0 of the second joint angles of the engineering machine at every two adjacent working points is calculated.

[0070] In some embodiments, the second joint angle includes at least one of a bucket angle and an arm angle of the construction machine.

[0071] In step 33 , if the sum is smaller than the predetermined deviation and the threshold, it is determined that the second joint angle is in a smooth state when the engineering machine performs the excavation task on the excavation path.

[0072] Correspondingly, if the sum is not less than the predetermined deviation and the threshold, it is determined that when the engineering machine performs the excavation task on the excavation path, the second joint angle is in a non-smooth state.

[0073] It should be noted here that during the excavation process, the bucket angle and the arm angle should be gradually retracted, which is reflected in the angle sensor as a monotonically decreasing angle value. After ignoring all work points that are not feasible for excavation tasks, the corresponding differences between the bucket angle and the arm angle of all adjacent work points are counted, and all positive differences are accumulated, which is the increase in a single joint angle in an excavation path, and also the smoothness of the joint angle. When this value is 0, the smoothness is optimal.

[0074] Figure 4 FIG. 4 is a flow chart of a path evaluation method according to another embodiment of the present disclosure. In some embodiments, the following path evaluation method is performed by a path evaluation device, including steps 41-42.

[0075] In step 41 , a statistical value of a deviation between a posture-related variable of the engineering machine at each working point in the excavation path and a posture-related variable of the engineering machine at a corresponding working point in the predetermined planned path is calculated.

[0076] In some embodiments, the statistical value includes at least one of a mean and a variance of the deviation.

[0077] In step 42, if the statistical value is less than a predetermined statistical value threshold, it is determined that the mining path can be used for the mining task.

[0078] It should be noted here that if the statistical value is less than the predetermined statistical value threshold, it indicates that the excavation path is highly similar to the pre-set excavation path (for example, the excavation path planned by experienced staff based on the current situation of the excavation area). In this case, it can be determined that the excavation path provided by the path planning model can be used for the current excavation task.

[0079] Correspondingly, if the statistical value is not less than the predetermined statistical value threshold, it indicates that the excavation path deviates greatly from the preset excavation path. In this case, it can be determined that the excavation path provided by the path planning model is not suitable for the current excavation task.

[0080] Figure 5 FIG. 5 is a flow chart of a path evaluation method according to another embodiment of the present disclosure. In some embodiments, the following path evaluation method is executed by a path evaluation device, including steps 51-54.

[0081] In step 51 , terrain curves are extracted from the point cloud of the excavation area.

[0082] For example, Figure 6 As shown, curve 61 represents the terrain curve, and curve 62 represents the excavation path provided by the path planning model.

[0083] It should be noted here that Figure 6 The units of the horizontal and vertical axes are both meters.

[0084] In step 52, the area of ​​the closed region formed by the excavation path and the terrain curve is determined as the excavation area.

[0085] For example, Figure 7 As described above, the closed area 63 formed by the excavation path 62 and the terrain curve 61 is used as the excavation area.

[0086] In step 53, the ratio of the excavation area to the predetermined excavation area is calculated.

[0087] At step 54, if the ratio is within the predetermined ratio range, it is determined that the excavation path can be used for the excavation task.

[0088] For example, if the ratio of the excavation area to the predetermined excavation area is 0.9, it indicates that the excavation area is close to the predetermined excavation area, in which case it can be determined that the excavation path can be used for the excavation task. If the ratio of the excavation area to the predetermined excavation area is 0.4 or 2.7, it indicates that the excavation area deviates greatly from the predetermined excavation area, in which case it can be determined that the excavation path cannot be used for the excavation task.

[0089] It should also be noted that the excavation efficiency of the path planning result can also be evaluated by other similar indicators, such as replacing the excavation area ratio with the actual excavation volume. Specifically, after the excavation phase, the excavator briefly stops to reach a steady state, and the excavation weight is calculated using the data collected by the angle sensor and pressure sensor and the excavator's own parameters. At the same time, the material density is determined by image recognition or by inputting the material type in advance, thereby calculating the excavation volume.

[0090] Figure 8 A schematic diagram of the structure of a path evaluation device according to an embodiment of the present disclosure.

[0091] like Figure 8 As shown, the path evaluation device 80 can be in the form of a general-purpose computing device. The path evaluation device 80 includes a memory 81, a processor 82, and a bus 83 connecting different system components.

[0092] The memory 81 may include, for example, a system memory, a non-volatile storage medium, etc. The system memory may store, for example, an operating system, an application program, a boot loader, and other programs. The system memory may include a volatile storage medium, such as a random access memory (RAM) and / or a cache memory. The non-volatile storage medium may store, for example, instructions of a corresponding embodiment of at least one path evaluation method being executed. The non-volatile storage medium includes, but is not limited to, a disk memory, an optical memory, a flash memory, etc.

[0093] The processor 82 may be implemented by a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistors, and other discrete hardware components. Accordingly, each module such as an acquisition module, a calculation module, and an adjustment module may be implemented by a central processing unit (CPU) running instructions in a memory that execute corresponding steps, or may be implemented by a dedicated circuit that executes corresponding steps.

[0094] For example, the processor 82 is configured to execute instructions stored in the memory to implement the following Figure 1 , Figures 3 to 5 The method of any one of the embodiments.

[0095] The bus 83 may use any of a variety of bus structures, including, but not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, and a Peripheral Component Interconnect (PCI) bus.

[0096] The interfaces 84, 85, 86 of the path evaluation device 80 and the memory 81 and the processor 82 can be connected via a bus 83. The input / output interface 84 provides a connection interface for input / output devices such as a display, a mouse, and a keyboard. The network interface 85 provides a connection interface for various networked devices. The storage interface 86 provides a connection interface for external storage devices such as a floppy disk, a USB flash drive, and an SD card.

[0097] Here, various aspects of the present disclosure are described with reference to flowcharts and / or block diagrams of methods, devices, and computer program products according to embodiments of the present disclosure. It should be understood that each frame of the flowchart and / or block diagram and the combination of frames can be implemented by computer-readable program instructions.

[0098] These computer-readable program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable device to produce a machine, so that the processor executes the instructions to produce means for implementing the functions specified in one or more blocks in the flowchart and / or block diagram.

[0099] These computer-readable program instructions may also be stored in a computer-readable memory, which cause the computer to work in a specific manner to produce an article of manufacture, including instructions for implementing the functions specified in one or more blocks in the flowchart and / or block diagram.

[0100] The present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects.

[0101] The present disclosure also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the following is implemented: Figure 1 , Figures 3 to 5 The method of any one of the embodiments.

[0102] The present disclosure also provides a computer program product, including computer instructions, wherein when the computer instructions are executed by a processor, the following is achieved: Figure 1 , Figures 3 to 5 The method of any one of the embodiments.

[0103] Fig. 9 The figure is a schematic diagram of the structure of an engineering machinery according to an embodiment of the present disclosure.

[0104] like Fig. 9 As shown, the engineering machine includes a path evaluation device 91, a point cloud acquisition device 92 and a path generation device 93. The path evaluation device 91 is Figure 8 A path evaluation device according to any one of the embodiments.

[0105] The point cloud collecting device 92 is configured to collect a point cloud of the excavation area.

[0106] The path generating device 93 is configured to process the point cloud of the excavation area using the path planning model to generate an excavation path, and provide the excavation path to the path evaluating device 91 .

[0107] By implementing the above-mentioned embodiments of the present disclosure, the following beneficial effects can be obtained.

[0108] 1. When performing quantitative evaluation on the excavation path generated by the AI ​​model, the present invention does not need to rely on additional sensors, but only requires point cloud information of the work object before the work. At the same time, there is no requirement for simulation or real experimental environment, which greatly reduces sensor costs and experimental expenses.

[0109] 2. The present invention evaluates from multiple aspects, thus avoiding the problem of ignoring other indicators when evaluating a single indicator.

[0110] In some embodiments, the functional unit described above may be implemented as a general-purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any appropriate combination thereof, for performing the functions described in the present disclosure.

[0111] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0112] The description of the present disclosure is given for the purpose of illustration and description, and is not intended to be exhaustive or to limit the present disclosure to the disclosed form. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present disclosure, and to enable those of ordinary skill in the art to understand the present disclosure and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A path evaluation method, comprising: Evaluate whether the construction machinery can perform the excavation task at each working point in the excavation path provided by the path planning model; Determine, according to the evaluation result, the proportion of the working points in the excavation path where the engineering machinery can perform the excavation task, among all the working points in the excavation path; When the proportion is greater than a predetermined proportion threshold, it is determined that the excavation path can be used for the excavation task.

2. The path evaluation method according to claim 1, wherein: The step of evaluating whether the construction machinery can perform the excavation task at each working point in the excavation path provided by the path planning model comprises: According to the posture of the engineering machine when performing the excavation task at the i-th working point in the excavation path, evaluating whether the engineering machine can perform the excavation task at the i-th working point, , N is the total number of working points.

3. The path evaluation method according to claim 2, wherein: The evaluating whether the engineering machine can perform the excavation task at the i-th working point includes: In the case where the excavation path is a path described in a configuration space, evaluating whether a first joint angle associated with the posture of the engineering machine when performing the excavation task at the i-th working point is within a predetermined angle range; If the first joint angle is within the predetermined angle range, it is determined that the construction machine is capable of performing the excavation task at the i-th working point.

4. The path evaluation method according to claim 3, further comprising: If the first joint angle is not within the predetermined angle range, it is determined that the construction machine cannot perform the excavation task at the i-th working point.

5. The path evaluation method according to claim 3, wherein: The first joint angle includes at least one of an excavator boom angle, an arm angle, and a bucket angle.

6. The path evaluation method according to claim 2, wherein: The evaluating whether the engineering machine can perform the excavation task at the i-th working point includes: In the case where the excavation path is a path described in a workspace, performing an inverse kinematic solution on the posture of the engineering machine at the i-th working point; If the posture of the construction machine at the i-th working point can be successfully kinematically inverse solved, it is determined that the construction machine can perform the excavation task at the i-th working point.

7. The path evaluation method according to claim 6, further comprising: If the posture of the engineering machine at the i-th working point cannot be successfully kinematically inversely solved, it is determined that the engineering machine cannot perform the excavation task at the i-th working point.

8. The path evaluation method according to claim 6, wherein: The posture of the engineering machine at the i-th working point is determined by the coordinates of the bucket tooth tip in the working space and the bucket angle.

9. The path evaluation method according to claim 1, further comprising: In the excavation path, deleting the working points where the engineering machine cannot perform the excavation task, so as to obtain a path to be processed; In the path to be processed, calculating the sum of deviations greater than 0 of the second joint angles of the engineering machine at every two adjacent working points; If the sum is smaller than the predetermined deviation and the threshold, it is determined that when the engineering machine performs the excavation task on the excavation path, the second joint angle is in a smooth state.

10. The path evaluation method according to claim 9, further comprising: If the sum is not less than the predetermined deviation and the threshold, it is determined that the second joint angle is in a non-smooth state when the engineering machine performs the excavation task on the excavation path.

11. The path evaluation method according to claim 9, wherein: The second joint angle includes at least one of a bucket angle and an arm angle of the construction machine.

12. The path evaluation method according to any one of claims 1 to 11, further comprising: Calculating a statistical value of a deviation between a posture-related variable of the engineering machine at each working point in the excavation path and a posture-related variable of a corresponding working point of the engineering machine in a predetermined planned path; If the statistical value is less than a predetermined statistical value threshold, it is determined that the mining path can be used for the mining task.

13. The path evaluation method according to claim 12, wherein: The statistical value includes at least one of a mean and a variance of the deviation.

14. The path evaluation method according to any one of claims 1 to 11, further comprising: Extracting terrain curves from the point cloud of the excavation area; determining the area of ​​a closed region formed by the excavation path and the terrain curve as an excavation area; Calculating a ratio of the excavation area to a predetermined excavation area; If the ratio is within a predetermined ratio range, it is determined that the excavation path can be used for the excavation task.

15. A path evaluation device, comprising: Memory; A processor is coupled to the memory, and the processor is configured to execute the path evaluation method according to any one of claims 1 to 14 based on instructions stored in the memory.

16. An engineering machine comprising: The path evaluation device as claimed in claim 15; a point cloud acquisition device configured to acquire a point cloud of an excavation area; The path generating device is configured to process the point cloud of the excavation area by using a path planning model to generate an excavation path, and send the excavation path to the path evaluating device.

17. A computer-readable storage medium, wherein: The computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the path evaluation method according to any one of claims 1 to 14 is implemented.

18. A computer program product, comprising computer instructions, wherein when the computer instructions are executed by a processor, the path evaluation method according to any one of claims 1 to 14 is implemented.

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