Material level detection method, device and equipment and storage medium

Abstract

The invention provides a material level detection method, device and equipment and a storage medium, and the material level detection method comprises the steps: collecting laser positioning data of at least one hopper in an operation scene, and building an elevation map corresponding to the hopper according to the collected laser positioning data; performing laser scanning on a material taking port area of the hopper to obtain material surface measurement heights corresponding to each unit measurement area in the hopper; according to the charge level measurement height corresponding to each unit measurement area, the target variance and the data measurement deviation, the charge level height corresponding to each unit measurement area in the elevation map is updated, and the latest charge level height corresponding to each unit measurement area in the hopper is obtained. Thus, the charge level height information recorded in the elevation map can be updated according to the charge level height measurement data, the elevation map data error and the data measurement deviation generated by data measurement, and more accurate charge level height information is obtained.

Description

Technical Field

[0001] The present application relates to the technical field of material level monitoring, and more specifically, to a material level detection method, device, equipment and storage medium. Background Art

[0002] In operation scenarios such as ports and batching plants, it is generally necessary for operating vehicles such as loaders to transport materials from the stacked material piles to the hoppers to complete the loading task. Therefore, real-time detection of the material level in the hopper (i.e., the height information of the materials in the hopper) is the key to ensuring production continuity and operation efficiency.

[0003] Currently, the existing technology uses single-point radar technology to estimate the material surface height in the hopper by measuring the distance between the material surface in the hopper and the radar installation position through a single-point lidar. However, on the one hand, since the single-point lidar can only send and receive laser pulses in one direction each time and does not support simultaneous measurement of data in multiple directions, the original laser ranging data used to estimate the material surface height is not accurate. On the other hand, due to the data measurement error of the single-point lidar, directly estimating the material surface height based on the laser ranging data of the single-point lidar is also very likely to reduce the accuracy of the estimated result of the material surface height. Summary of the Invention

[0004] In view of this, the present application provides a material level detection method, device, equipment and storage medium. On the basis of establishing an elevation map of the hopper according to the laser positioning data of the hopper in advance, the material surface height information recorded in the elevation map is updated according to the material surface height measurement data, the elevation map data error and the data measurement deviation, so as to obtain more accurate material surface height information, effectively improving the accuracy of the material level detection of the hopper.

[0005] To make the above objects, features and advantages of the present application more obvious and understandable, the following specific embodiments are given in conjunction with the accompanying drawings and are described in detail as follows.

[0006] In a first aspect, an embodiment of the present application provides a material level detection method, and the material level detection method includes:

[0007] Collect the laser positioning data of at least one hopper in the operation scenario, and establish an elevation map corresponding to the hopper according to the collected laser positioning data; wherein, the elevation map includes the material surface height and the target variance corresponding to each unit measurement area in the hopper; the target variance is determined according to the material surface height corresponding to each unit measurement area;

[0008] Perform laser scanning on the material taking port area of the hopper to obtain the measured material surface height corresponding to each unit measurement area in the hopper;

[0009] Update the material surface height corresponding to each unit measurement area in the elevation map according to the material surface measurement height corresponding to each unit measurement area, the target variance, and the data measurement deviation, to obtain the latest material surface height corresponding to each unit measurement area in the hopper; wherein, the data measurement deviation represents the data acquisition error of the laser positioning data and the scanning error of the laser scanning.

[0010] In a second aspect, an embodiment of the present application provides a material level detection device, which includes:

[0011] A construction module, configured to collect laser positioning data of at least one hopper in an operation scenario, and establish an elevation map corresponding to the hopper according to the collected laser positioning data; wherein, the elevation map includes the material surface height and the target variance corresponding to each unit measurement area in the hopper; the target variance is determined according to the material surface height corresponding to each unit measurement area;

[0012] A measurement module, configured to perform laser scanning on the material taking port area of the hopper to obtain the material surface measurement height corresponding to each unit measurement area in the hopper;

[0013] An update module, configured to update the material surface height corresponding to each unit measurement area in the elevation map according to the material surface measurement height corresponding to each unit measurement area, the target variance, and the data measurement deviation, to obtain the latest material surface height corresponding to each unit measurement area in the hopper; wherein, the data measurement deviation represents the data acquisition error of the laser positioning data and the scanning error of the laser scanning.

[0014] In a third aspect, an embodiment of the present application provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the steps of the above-mentioned material level detection method are implemented.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the steps of the above-mentioned material level detection method are executed.

[0016] The technical solution provided by the embodiment of the present application may include the following beneficial effects:

[0017] A method, device, equipment and storage medium for detecting material level provided by an embodiment of the present application collect laser positioning data of at least one hopper in an operation scenario, and establish an elevation map corresponding to the hopper according to the collected laser positioning data; perform laser scanning on the material taking port area of the hopper to obtain the material surface measurement height corresponding to each unit measurement area in the hopper; update the material surface height corresponding to each unit measurement area in the elevation map according to the material surface measurement height, target variance and data measurement deviation corresponding to each unit measurement area, so as to obtain the latest material surface height corresponding to each unit measurement area in the hopper. In this way, the present application can update the material surface height information recorded in the elevation map according to the material surface height measurement data, elevation map data error and data measurement deviation caused by data measurement, so as to obtain more accurate material surface height information. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 The flowchart of a method for detecting material level provided by an embodiment of the present application is shown;

[0020] Figure 2 The schematic diagram of an elevation map provided by an embodiment of the present application is shown;

[0021] Figure 3 The schematic diagram of clearing the material surface height information by means of ray tracing provided by an embodiment of the present application is shown;

[0022] Figure 4 The flowchart of a method for determining whether the bucket of an operation vehicle is in a loading state provided by an embodiment of the present application is shown;

[0023] Figure 5 The schematic diagram of an operation vehicle provided by an embodiment of the present application is shown;

[0024] Figure 6 The structural schematic diagram of a material level detection device provided by an embodiment of the present application is shown;

[0025] Figure 7 The structural schematic diagram of an electronic device 700 provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. It should be understood that the accompanying drawings in this application only serve the purpose of illustration and description, and are not used to limit the protection scope of this application. In addition, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate the operations implemented according to some embodiments of this application. It should be understood that the operations in the flowchart may not be implemented in sequence, and steps without a logical context relationship may be reversed or implemented simultaneously. In addition, those skilled in the art may add one or more other operations to the flowchart or remove one or more operations from the flowchart under the guidance of the content of this application.

[0027] In addition, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. The components of the embodiments of this application usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but only represents the selected embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of this application.

[0028] It should be noted that the term "including" will be used in the embodiments of this application to indicate the existence of the features stated thereafter, but does not exclude the addition of other features.

[0029] Currently, the prior art uses single-point radar technology to estimate the material surface height in the hopper by measuring the distance between the material surface in the hopper and the radar installation position with a single-point lidar. However, on the one hand, since a single-point lidar can only send and receive laser pulses in one direction at a time and does not support measuring data in multiple directions simultaneously, the original laser ranging data used to estimate the material surface height is not accurate. On the other hand, due to the data measurement error of the single-point lidar, directly estimating the material surface height based on the laser ranging data of the single-point lidar is also very likely to reduce the accuracy of the estimated result of the material surface height.

[0030] Based on this, the embodiments of this application provide a material level detection method, device, equipment, and storage medium. On the basis of establishing an elevation map of the hopper in advance according to the laser positioning data of the hopper, the material surface height information recorded in the elevation map is updated according to the material surface height measurement data, the elevation map data error, and the data measurement deviation, so as to obtain more accurate material surface height information, effectively improving the accuracy of the material level detection of the hopper.

[0031] A material level detection method in one embodiment of the present application can run in a material level detection device in an operation scenario. The material level detection device can be a terminal device or a server. Among them, the terminal device can be a local terminal device. When the material level detection method runs on the server (i.e., the above-mentioned material level detection device belongs to the server), the material level detection method can be implemented and executed based on a cloud interaction system. The cloud interaction system includes a server and a client device (i.e., the terminal device).

[0032] For the convenience of understanding the embodiments of the present application, a material level detection method, device, equipment, and storage medium provided by the embodiments of the present application will be introduced in detail below.

[0033] Refer to Figure 1 as shown Figure 1 which shows a schematic flowchart of a material level detection method provided by an embodiment of the present application. Among them, the material level detection method includes steps S101 - S103; specifically:

[0034] S101, collect laser positioning data of at least one hopper in the operation scenario, and establish an elevation map corresponding to the hopper according to the collected laser positioning data.

[0035] S102, perform laser scanning on the material taking port area of the hopper to obtain the material surface measurement height corresponding to each unit measurement area in the hopper.

[0036] S103, update the material surface height corresponding to each unit measurement area in the elevation map according to the material surface measurement height corresponding to each unit measurement area, the target variance, and the data measurement deviation, to obtain the latest material surface height corresponding to each unit measurement area in the hopper; where the data measurement deviation represents the data acquisition error of the laser positioning data and the scanning error of the laser scanning.

[0037] The above-mentioned material level detection method provided by the embodiments of the present application collects laser positioning data of at least one hopper in the operation scenario, and establishes an elevation map corresponding to the hopper according to the collected laser positioning data; performs laser scanning on the material taking port area of the hopper to obtain the material surface measurement height corresponding to each unit measurement area in the hopper; updates the material surface height corresponding to each unit measurement area in the elevation map according to the material surface measurement height corresponding to each unit measurement area, the target variance, and the data measurement deviation, to obtain the latest material surface height corresponding to each unit measurement area in the hopper. In this way, the present application can update the material surface height information recorded in the elevation map according to the material surface height measurement data, the elevation map data error, and the data measurement deviation caused by data measurement, to obtain more accurate material surface height information.

[0038] The following is an exemplary description of each step in the above material level detection method provided by the embodiments of the present application:

[0039] S101, collect the laser positioning data of at least one hopper in the operation scenario, and establish the elevation map corresponding to the hopper according to the collected laser positioning data.

[0040] Here, the operation scenario can be a scenario such as a port or a mixing plant where operation vehicles perform loading tasks (that is, move materials from a stacked material pile to a hopper). Among them, the operation scenario can include one hopper or multiple hoppers; the specific scenario to which the operation scenario belongs and the specific number of hoppers included in the operation scenario are not limited in the embodiments of the present application.

[0041] Specifically, considering that the hopper is generally of an open design, therefore, in the embodiments of the present application, a laser sensor can be installed in the upper area of the hopper in the operation scenario, so that the laser sensor can perform laser scanning on each unit measurement area in the hopper (that is, in the top-down view, the material taking port area of the hopper can be divided into multiple unit measurement areas with the same size) from above the hopper at a top-down angle, and collect the laser positioning data of each unit measurement area in the hopper (that is, the laser positioning data of the hopper); among them, the laser positioning data of each unit measurement area includes the position information of the unit measurement area in the operation scenario and the height of the unit measurement area from the ground.

[0042] It should be noted that since the above laser sensor is installed in the operation scenario, after installing the above laser sensor, it is also necessary to accumulate a certain number of laser scanning data (that is, laser frames), match the laser scanning data with the three-dimensional map of the operation scenario, and complete the calibration of the laser sensor, so that the calibrated laser sensor can accurately collect the laser positioning data of the hopper in the operation scenario.

[0043] It should be noted that the specific size of the above unit measurement area can be set according to actual measurement requirements, and the embodiments of the present application do not make any limitations in this regard.

[0044] Specifically, after collecting the above laser positioning data, for each hopper in the operation scenario, according to the position information of each unit measurement area in the hopper, a grid corresponding to each unit measurement area can be drawn to obtain the corresponding planar position information of the hopper in the elevation map. The height of a unit measurement area from the ground is the material surface height corresponding to the unit measurement area (i.e., the vertical height from the material surface in the unit measurement area to the ground). Therefore, according to the height of each unit measurement area from the ground, the grid height of the grid corresponding to each unit measurement area in the elevation map can be determined. Furthermore, based on the position information and the material surface height corresponding to each unit measurement area in the hopper, an elevation map corresponding to the hopper can be established (i.e., the elevation map includes the material surface heights corresponding to each unit measurement area in the hopper).

[0045] Exemplarily, taking the operation scenario including 6 horizontally distributed hoppers as an example, Figure 2 The schematic diagram of an elevation map provided by an embodiment of the present application is shown. As Figure 2 shown, the elevation map of each hopper is composed of multiple grids. Each grid corresponds to a unit measurement area in the hopper. The position information of each grid is determined by the position information of the unit measurement area corresponding to the grid, and the height information of each grid is determined by the material surface height corresponding to the unit measurement area corresponding to the grid.

[0046] Specifically, for each grid in the elevation map, in addition to the height information of the grid (i.e., the material surface height corresponding to the unit measurement area corresponding to the grid), the variance value of the material surface heights corresponding to each unit measurement area can be calculated as the target variance corresponding to the grid (i.e., the target variance corresponding to the unit measurement area corresponding to the grid) according to the material surface heights corresponding to each unit measurement area in the hopper. The calculated target variance is used to represent the degree of dispersion between the height information of different grids in the elevation map.

[0047] It should be noted that the above laser sensor can be a three-dimensional lidar, a laser positioning sensor, or other laser sensors capable of measuring elevation data. Among them, in the embodiment of the present application, a low-cost non-repetitive scanning three-dimensional lidar can be preferably used as the above laser sensor. The specific type of the above laser sensor is not limited in the embodiment of the present application.

[0048] S102. Perform laser scanning on the material taking port area of the hopper to obtain the material surface measurement heights corresponding to each unit measurement area in the hopper.

[0049] Here, referring to the above step S101, it can be known that the laser sensor can collect the material surface height corresponding to each unit measurement area in the hopper. Among them, in the embodiment of the present application, since the laser sensor is installed above the hopper, the laser sensor can also perform laser scanning on the material taking port area of the hopper from above in real time, and obtain the real-time material surface height corresponding to each unit measurement area in the hopper as the material surface measurement height obtained by the current measurement. That is, in the embodiment of the present application, the laser positioning data of the hopper can be collected through the laser sensor installed above the hopper in the operation scenario, and laser scanning can be performed on the material taking port area from above the hopper.

[0050] It should be noted that the number of the above laser sensors can be jointly determined according to the laser scanning range of the laser sensor, the number of hoppers in the operation scenario, and the area of the material taking port area of each hopper. That is, in the embodiment of the present application, it is only necessary to ensure that the material taking port area of each hopper in the operation scenario can be located within the laser scanning range of the laser sensor. The specific installation number of the above laser sensors is not limited in the embodiment of the present application.

[0051] In addition, in the embodiment of the present application, as another optional embodiment, the laser sensor can also perform laser scanning on the material taking port area of the hopper from above according to a certain preset acquisition period, and obtain the material surface height of each unit measurement area in the hopper during the current acquisition period as the material surface measurement height obtained by the current measurement.

[0052] It should be noted that the method of obtaining the material surface measurement height corresponding to each unit measurement area in the hopper by laser scanning in step S102 is the same as the method of determining the material surface height corresponding to each unit measurement area when establishing the elevation map in the above step S101, and the repeated parts will not be elaborated here.

[0053] S103, update the material surface height corresponding to each unit measurement area in the elevation map according to the material surface measurement height corresponding to each unit measurement area, the target variance, and the data measurement deviation, so as to obtain the latest material surface height corresponding to each unit measurement area in the hopper.

[0054] Here, the above data measurement deviation represents the data measurement deviation caused by data measurement (that is, the data acquisition error of the laser positioning data in step S101 and the scanning error of the laser scanning in step S102). Among them, since the acquisition of the laser positioning data and the laser scanning can both be realized by the above laser sensor, in the embodiment of the present application, as an optional embodiment, the above data measurement deviation can also represent the measurement error of the laser sensor. The measurement error of the laser sensor can be specifically quantified by using the estimated variance of the laser sensor (equivalent to the above data measurement deviation can be determined according to the estimated variance of the above laser sensor).

[0055] Here, different from directly determining the material level in the hopper (i.e., the height information of the material in the hopper) according to the above-mentioned measured height of the material surface in the prior art, in the embodiment of the present application, based on the elevation map of the hopper established in advance according to the laser positioning data of the hopper (refer to the specific implementation process of step S101 above), according to the material surface height measurement data (i.e., the above-mentioned measured height of the material surface measured in step S102), the elevation map data error (i.e., the above-mentioned target variance corresponding to each unit measurement area in step S101), and the data measurement deviation (i.e., the estimated variance of the above-mentioned laser sensor), the material surface height information recorded in the elevation map (i.e., the material surface height corresponding to each unit measurement area in the elevation map) is updated to obtain the latest material surface height corresponding to each unit measurement area in the hopper as more accurate material surface height information (i.e., the height information of the material in the hopper).

[0056] Specifically, in the embodiment of the present application, as an optional embodiment, for each unit measurement area in the hopper, the material surface height h1 corresponding to the unit measurement area in the elevation map can be updated in the manner shown in Formula 1 below to obtain the latest material surface height h2 corresponding to the unit measurement area:

[0057]

[0058] Wherein, h1 represents the material surface height corresponding to the unit measurement area in the elevation map (which is also equivalent to the grid height of the grid corresponding to the unit measurement area in the elevation map);

[0059] represents the estimated variance of the laser sensor (i.e., the above-mentioned data measurement deviation);

[0060] represents the target variance corresponding to the unit measurement area in the elevation map;

[0061] p represents the measured height of the material surface corresponding to the unit measurement area;

[0062] h2 represents the latest material surface height corresponding to the unit measurement area.

[0063] In the embodiment of the present application, as another optional embodiment, for each unit measurement area in the hopper, the target variance corresponding to the unit measurement area in the elevation map can also be updated in the manner shown in Formula 2 below to obtain the latest target variance

[0064]

[0065] Wherein, Represents the estimated variance of the laser sensor (i.e., the above-mentioned data measurement deviation);

[0066] Represents the target variance corresponding to the unit measurement area in the elevation map;

[0067] p represents the measured material surface height corresponding to the unit measurement area;

[0068] Represents the latest target variance corresponding to the unit measurement area.

[0069] The following will separately provide a detailed description of the specific implementation processes of the above steps in the embodiments of the present application:

[0070] Regarding the material level detection method shown in the above steps S101 - S103, after executing the above step S102, considering that there may be one or more abnormal situations where the unit measurement areas are not scanned by the laser, at this time, for the abnormal unit measurement areas not scanned by the laser, as an optional embodiment, the target variance corresponding to the abnormal unit measurement areas in the elevation map can be updated in the manner shown in the following step a1. Specifically:

[0071] Step a1: When updating the elevation map, for the abnormal unit measurement areas in the hopper that are not scanned by the laser, calculate the sum value between the target variance corresponding to the abnormal unit measurement areas and the preset variance, and update the target variance corresponding to the abnormal unit measurement areas in the elevation map according to the calculated sum value.

[0072] Here, for the abnormal unit measurement areas not scanned by the laser, since the measured material surface height of the abnormal unit measurement areas cannot be obtained, therefore, when updating the elevation map, it is not necessary to update the material surface height corresponding to the abnormal unit measurement areas in the manner shown in the above formula 1; at this time, as an optional embodiment, only the target variance corresponding to the abnormal unit measurement areas can be updated in the manner shown in step a1.

[0073] Specifically, different from the target variance update method shown in the above formula 2, since the measured material surface height of the abnormal unit measurement areas (equivalent to the p value in the above formula 2) cannot be obtained, therefore, when updating the target variance corresponding to the abnormal unit measurement areas, a fixed value (i.e., the preset variance) can be added to the target variance corresponding to the abnormal unit measurement areas in the manner shown in step a1, and the target variance after adding the fixed value is used as the target variance corresponding to the abnormal unit measurement areas in the updated elevation map.

[0074] It should be noted that the specific value of the above preset variance can be set according to the actual requirements for updating the target variance, and the embodiments of the present application do not make any limitations thereto.

[0075] Regarding the material level detection method shown in the above steps S101 - S103, after performing the above step S103, if it is detected that the material surface height in a certain hopper changes, the changed material surface height information can be cleared from the elevation map in the way of ray tracing shown in step b1 below, so as to ensure that the elevation map can be consistent with the actual change of the material surface height and improve the accuracy of the elevation map. Specifically:

[0076] Step b1: When it is detected that the material surface height corresponding to each unit measurement area in the elevation map changes, according to the connection lines between each measurement position point in the unit measurement area and the center point of the laser sensor, clear the material surface height information corresponding to the measurement position points above the connection lines from the elevation map.

[0077] It should be noted that the laser sensor in the above step b1 refers to the laser sensor installed above the hopper for laser positioning data acquisition and laser scanning of the hopper.

[0078] Here, when it is detected that the material surface in the hopper changes (that is, the material surface height corresponding to each unit measurement area in the elevation map changes), as an optional embodiment, the changed material surface can be cleared by using the ray tracing method. Among them, the ray tracing method can be understood as: connecting each measurement position point in the unit measurement area (equivalent to each measurement point scanned by the laser emitted by the laser sensor during laser scanning) with the center point of the laser sensor, and then clearing the material surface height values above the connection line.

[0079] Specifically, taking a hopper in the operation scenario as an example, Figure 3 shows a schematic diagram of clearing the material surface height information by the ray tracing method provided by the embodiment of the present application. As Figure 3 shown, the laser sensor can perform laser scanning on the material taking port area of the hopper from above the hopper. Among them, after performing S103, for the updated elevation map, if it is detected that the material surface height corresponding to each unit measurement area in the elevation map changes, for each measurement position point in the hopper, it can be determined to connect the measurement position point with the center point of the laser sensor, and clear the material surface height information corresponding to the measurement position points above the connection line from the elevation map.

[0080] For the material level detection method shown in the above steps S101 - S103, referring to the specific implementation process of the above steps S101 - S103, it can be known that since the elevation map is updated in real time following the measured height of the material surface in each unit measurement area in the hopper (or updated regularly according to the measurement period of the measured height of the material surface), therefore, for each hopper, multiple historical versions of the elevation map can be obtained. At this time, according to the multiple historical versions of the elevation map corresponding to the hopper and the latest material surface height corresponding to each unit measurement area in the hopper, the material capacity in the hopper can be estimated according to the method shown in the following steps c1 - c2. Specifically:

[0081] Step c1: Obtain the first historical material surface height of each unit measurement area in the empty state of the hopper and the second historical material surface height of each unit measurement area in the full state of the hopper from the multiple historical versions of the elevation map corresponding to the hopper.

[0082] Here, the method for establishing the elevation map of the historical version can refer to the method for establishing the elevation map in the foregoing step S101, and the repeated parts will not be elaborated here.

[0083] Specifically, the first target elevation map corresponding to the empty state of the hopper (equivalent to the elevation map established in advance according to the method shown in step S101 when there is no material stored in the hopper) can be obtained from the multiple historical versions of the elevation map corresponding to the hopper, and then the first historical material surface height of each unit measurement area in the hopper in the empty state can be obtained from the above first target elevation map.

[0084] Specifically, the second target elevation map corresponding to the full state of the hopper (equivalent to the elevation map established in advance according to the method shown in step S101 when the hopper is full of materials) can be obtained from the multiple historical versions of the elevation map corresponding to the hopper, and then the second historical material surface height of each unit measurement area in the hopper in the full state can be obtained from the above second target elevation map.

[0085] Step c2: Estimate the material capacity in the hopper at the current moment according to the latest material surface height, the first historical material surface height, and the second historical material surface height corresponding to each unit measurement area.

[0086] In the embodiment of the present application, as an optional embodiment, for each hopper, the material capacity V in the hopper at the current moment can be estimated in the following manner shown in formula 3:

[0087]

[0088] where g i represents the latest material surface height corresponding to the i-th unit measurement area in the hopper;

[0089] represents the first historical material surface height of the i-th unit measurement area in the hopper when the hopper is in an empty state;

[0090] represents the second historical material surface height of the i-th unit measurement area in the hopper when the hopper is in a full state;

[0091] n represents the total number of unit measurement areas in the hopper;

[0092] v represents the material capacity in the hopper at the current moment (which is also equivalent to the proportion of the material capacity stored in the hopper at the current moment in the total capacity of the hopper).

[0093] Here, based on estimating the material capacity in each hopper in the operation scenario according to the method shown in the above steps c1 - c2, the material level detection device can also compare the estimated material capacity of each hopper with the preset loading threshold configured for the hopper according to the method shown in the following step d1, and automatically judge the loading timing of the hopper, so as to be able to automatically send a loading control instruction for the hopper to the operation vehicle in the operation scenario when it detects that the hopper is short of material, which is beneficial to realizing unmanned control in the operation scenario and overcoming the defect in the prior art that operators need to manually judge the loading timing. Specifically:

[0094] Step d1: When it is detected that the material capacity is less than or equal to the preset loading threshold, determine that the hopper is a hopper short of material, and send a loading control instruction for the hopper to the operation vehicle in the operation scenario.

[0095] It should be noted that the above preset loading thresholds configured for different hoppers can be the same or different, and the specific values of the above preset loading thresholds are not limited in the embodiments of the present application.

[0096] It should be noted that the above operation vehicle can be an unmanned loader or other loading vehicles capable of performing loading tasks, and the specific vehicle type to which the above operation vehicle belongs is not limited in the embodiments of the present application.

[0097] Specifically, based on the above step d1, if it is detected that there are multiple hoppers short of material in the operation scenario, as an optional embodiment, the method shown in the following steps e1 - e2 can also be used to sequentially send loading control instructions for different hoppers short of material to the operation vehicle in an orderly manner, so that the operation vehicle can load different hoppers short of material in an orderly manner according to the receiving order of the loading control instructions:

[0098] Step e1: When multiple such hoppers lacking materials are detected in the operation scenario, determine the degree of material shortage corresponding to each of the multiple hoppers lacking materials according to the difference between the material capacity of the multiple hoppers lacking materials and the preset loading threshold configured for the multiple hoppers lacking materials.

[0099] Here, for the specific method of determining whether a hopper belongs to a hopper lacking materials, reference can be made to the specific implementation manner of the foregoing step d1, and the repeated parts will not be elaborated here.

[0100] Specifically, considering that the preset loading thresholds configured for different hoppers may be the same or different, therefore, when performing step e1, for each hopper lacking materials, the difference between the material capacity of the hopper lacking materials and the preset loading threshold configured for the hopper lacking materials can be calculated, and this difference is used as the numerical representation result of the degree of material shortage corresponding to the hopper lacking materials. That is, the larger the calculated difference is, the higher the degree of material shortage corresponding to the hopper lacking materials is.

[0101] Step e2: Send loading control instructions for each of the hoppers lacking materials to the operation vehicles in the operation scenario in the order of the degree of material shortage from high to low.

[0102] Specifically, the higher the degree of material shortage of a hopper lacking materials is, the earlier the loading control instruction for the hopper lacking materials will be sent to the operation vehicle, so that the operation vehicle can preferentially load the hoppers lacking materials with a higher degree of material shortage in turn.

[0103] Regarding the material level detection method shown in the above steps S101 - S103, considering that when the operation vehicle is loading, it needs to move the bucket to above the hopper or extend it into the hopper, which is likely to block the laser rays emitted by the laser sensor, resulting in a large error in the measured height of the material surface measured by laser scanning. Therefore, in the embodiment of the present application, the material level detection device will also detect whether the bucket of the operation vehicle is in the loading state, so as to stop updating the material surface height information in the elevation map when it is detected that the bucket is in the loading state, and improve the accuracy of the material level detection of the hopper.

[0104] Here, in an alternative embodiment Figure 4 shows a schematic flowchart of a method for determining whether the bucket of an operation vehicle is in the loading state provided by the embodiment of the present application, as Figure 4 shown, the method includes steps S401 - S403; specifically:

[0105] S401: According to the position information of the hopper in the operation scenario, determine the first projection area corresponding to the material taking port area of the hopper from the existing laser point cloud data of the operation scenario.

[0106] Here, as an optional embodiment, the laser point cloud data of each point in the operation scenario can be collected by statically installing multiple 3D lidars in the operation scenario, so as to obtain the existing laser point cloud data of the operation scenario.

[0107] Here, as another optional embodiment, a 3D lidar can also be installed on the operation vehicle, so that during the mobile operation of the operation vehicle in the operation scenario, the laser point cloud data of each point in the operation scenario is collected according to the 3D lidar installed on the operation vehicle, and the existing laser point cloud data of the operation scenario is obtained.

[0108] Specifically, the position information of the hopper in the operation scenario can be the position coordinates of the edge position points of the hopper opening in the world coordinate system. Among them, when using the position coordinates of the edge position points of the hopper opening in the world coordinate system as the position information of the hopper in the operation scenario, since the existing laser point cloud data of the operation scenario corresponds to the laser positioning coordinate system (i.e., the coordinate system established with the 3D lidar as the origin) rather than the world coordinate system, therefore, the coordinate transformation matrix between the laser positioning coordinate system and the world coordinate system can also be used to convert the position coordinates of the edge position points of the hopper opening in the world coordinate system into the position coordinates of the edge position points of the hopper opening in the above-mentioned laser positioning coordinate system, so as to determine the first projection area corresponding to the material taking port area of the hopper from the existing laser point cloud data of the operation scenario (equivalent to the projection area of the material taking port area of the hopper on the ground of the operation scenario from a top view angle).

[0109] S402. According to the position information of the operation vehicle in the operation scenario, determine the second projection area corresponding to the bucket of the operation vehicle from the existing laser point cloud data of the operation scenario.

[0110] Here, a positioning sensor can be installed on the operation vehicle to measure the position information of the operation vehicle in the operation scenario (i.e., the position information of the operation vehicle in the world coordinate system).

[0111] Specifically, when performing step S402, the method shown in the following steps f1-f3 can be used to determine the second projection area corresponding to the bucket of the operation vehicle:

[0112] Step f1. According to the relative position information between the bucket and the rear vehicle body of the operation vehicle and the global position information of the rear vehicle body in the world coordinate system, determine the global position information of the bucket in the world coordinate system.

[0113] Here, Figure 5 shows a schematic diagram of an operation vehicle provided by an embodiment of the present application, as Figure 5As shown, angle sensors can be pre-installed on the boom (i.e., the jib) and the bucket of the work vehicle respectively to obtain the included angle between the bucket and the boom at the current moment.

[0114] Specifically, as Figure 5 shown, in the embodiments of the present application, a corresponding coordinate system can be established for each moving joint of the work vehicle. By measuring in advance the fixed information such as the length and height of the boom (i.e., the jib) of the work vehicle, as well as the included angles at the above-mentioned respective moving joints, the relationship between each coordinate system can be obtained, that is, the relative pose between the bucket and the rear body of the work vehicle. Among them, the relative pose refers to the pose state of the bucket relative to the rear body of the work vehicle, including but not limited to the direction and position relationship, etc. Therefore, the relative pose can also represent the relative position between the bucket and the rear body of the work vehicle.

[0115] It should be noted that, as Figure 5 shown, the above-mentioned moving joints include but are not limited to: the moving joint between the tooth tip and the bucket, the moving joint between the bucket and the boom, the moving joint between the projection point of the vehicle body steering axis on the ground (representing the vehicle body position) and the boom, the moving joint between the above projection point and the front wheels, the moving joint between the above projection point and the rear wheels, the moving joint between the rear wheels and the positioning sensor (installed on the top of the cab of the work vehicle), etc.

[0116] Here, according to the position information of the work vehicle in the world coordinate system (i.e., the position information of the work vehicle in the operation scenario), the global position information of the rear body of the work vehicle in the world coordinate system can be determined Among them, can also represent the absolute pose of the rear body of the work vehicle in the world coordinate system (i.e., in the world coordinate system, the pose of the rear body of the work vehicle relative to the world coordinate system).

[0117] Specifically, after knowing the relative pose between the bucket and the rear body of the work vehicle and the absolute pose of the rear body of the work vehicle in the world coordinate system

[0118] it is possible to calculate the global position information of the bucket in the world coordinate system in the manner shown in Equation 4 below

[0119]

[0120] Among them, represents the relative pose between the bucket and the rear body of the work vehicle;

[0121] Represents the absolute attitude of the rear body of the work vehicle in the world coordinate system;

[0122] Represents the global position information of the bucket in the world coordinate system (i.e., the absolute attitude of the bucket in the world coordinate system).

[0123] Step f2: According to the coordinate transformation matrix between the laser positioning coordinate system corresponding to the existing laser point cloud data and the world coordinate system, perform coordinate transformation on the global position information of the bucket in the world coordinate system to obtain the bucket position information of the bucket in the laser positioning coordinate system.

[0124] Here, referring to the aforementioned step S401, it can be seen that since the existing laser point cloud data corresponds to the laser positioning coordinate system rather than the world coordinate system, therefore, after obtaining the global position information of the bucket in the world coordinate system After that, it is also necessary to rely on the coordinate transformation matrix between the laser positioning coordinate system and the world coordinate system In the manner shown in Formula 5 below, perform coordinate transformation on the global position information of the bucket in the world coordinate system To obtain the bucket position information T of the bucket in the laser positioning coordinate system, specifically:

[0125]

[0126] Among them, Represents the global position information of the bucket in the world coordinate system;

[0127] Represents The transpose of;

[0128] Represents the coordinate transformation matrix between the laser positioning coordinate system and the world coordinate system;

[0129] T represents the bucket position information of the bucket in the laser positioning coordinate system.

[0130] Step f3: According to the bucket position information of the bucket in the laser positioning coordinate system, determine the second projection area corresponding to the bucket of the work vehicle from the existing laser point cloud data of the work scene.

[0131] Here, after performing coordinate transformation processing to obtain the bucket position information of the bucket in the laser positioning coordinate system, the second projection area corresponding to the bucket (equivalent to the projection area of the bucket on the ground of the work scene from a top-down perspective) can be determined from the existing laser point cloud data of the work scene.

[0132] S403. When an intersection is detected between the first projection area and the second projection area, it is determined that the bucket of the work vehicle is in an operating state, and the update of the material surface height corresponding to each unit measurement area in the elevation map is stopped until there is no longer an intersection between the first projection area and the second projection area.

[0133] Specifically, the above-mentioned first projection area representing the hopper material intake area is denoted as the B1 area, and the above-mentioned second projection area representing the bucket position is denoted as the B2 area. As an alternative embodiment, for each boundary of the B2 area, it can be determined whether this boundary intersects with any boundary of the B1 area. If they intersect, it can be determined that the bucket of the work vehicle is in an operating state (i.e., the loading state), and it is necessary to stop updating the material surface height corresponding to each unit measurement area in the elevation map.

[0134] Specifically, as another alternative embodiment, for any position point in the B2 area, it can also be determined whether this position point is located within the B1 area. If it is located within the B1 area, it can be determined that the bucket of the work vehicle is in an operating state (i.e., the loading state), and it is necessary to stop updating the material surface height corresponding to each unit measurement area in the elevation map.

[0135] Based on the above-mentioned material level detection method provided by the embodiments of the present application, the laser positioning data of at least one hopper in the operation scenario is collected, and an elevation map corresponding to the hopper is established according to the collected laser positioning data; the material intake area of the hopper is scanned by laser to obtain the measured material surface height corresponding to each unit measurement area in the hopper; according to the measured material surface height, the target variance, and the data measurement deviation corresponding to each unit measurement area, the material surface height corresponding to each unit measurement area in the elevation map is updated to obtain the latest material surface height corresponding to each unit measurement area in the hopper. In this way, the present application can update the material surface height information recorded in the elevation map according to the material surface height measurement data, the elevation map data error, and the data measurement deviation caused by data measurement, so as to obtain more accurate material surface height information.

[0136] Based on the same inventive concept, the present application also provides a material level detection device corresponding to the above-mentioned material level detection method. Since the principle of solving problems by the material level detection device in the embodiments of the present application is similar to that of the above-mentioned material level detection method in the embodiments of the present application, the implementation of the material level detection device can refer to the implementation of the above-mentioned material level detection method, and the repeated parts will not be described again.

[0137] Refer to Figure 6 as shown in Figure 6 FIG. shows a structural schematic diagram of a material level detection device provided by an embodiment of the present application, wherein the material level detection device includes:

[0138] A building module 601 is configured to collect laser positioning data of at least one hopper in an operation scenario, and establish an elevation map corresponding to the hopper according to the collected laser positioning data; wherein, the elevation map includes the material surface height and the target variance corresponding to each unit measurement area in the hopper; the target variance is determined according to the material surface height corresponding to each unit measurement area;

[0139] A measurement module 602 is configured to perform laser scanning on the material taking port area of the hopper to obtain the measured material surface height corresponding to each unit measurement area in the hopper;

[0140] An update module 603 is configured to update the material surface height corresponding to each unit measurement area in the elevation map according to the measured material surface height corresponding to each unit measurement area, the target variance, and the data measurement deviation, so as to obtain the latest material surface height corresponding to each unit measurement area in the hopper; wherein, the data measurement deviation represents the data acquisition error of the laser positioning data and the scanning error of the laser scanning.

[0141] In an optional implementation manner, the material level detection device further includes: a laser sensor installed above the hopper in the operation scenario; wherein, the laser sensor is configured to collect the laser positioning data of the hopper and perform laser scanning on the material taking port area from above the hopper; the number of the laser sensors is determined according to the laser scanning range of the laser sensors, the number of hoppers, and the area of the material taking port area of the hopper.

[0142] In an optional implementation manner, the data measurement deviation is determined according to the estimated variance of the laser sensor.

[0143] In an optional implementation manner, the material level detection device further includes: an anomaly detection module; wherein, the anomaly detection module is configured to:

[0144] When updating the elevation map, for an abnormal unit measurement area in the hopper that is not scanned by the laser, calculate the sum value between the target variance corresponding to the abnormal unit measurement area and a preset variance, and update the target variance corresponding to the abnormal unit measurement area in the elevation map according to the calculated sum value.

[0145] In an optional implementation manner, the material level detection device further includes: a cleaning module; wherein, the cleaning module is configured to:

[0146] When it is detected that the material surface height corresponding to each unit measurement area in the elevation map changes, according to the connection lines between each measurement position point and the center point of the laser sensor in the unit measurement area, the material surface height information corresponding to the measurement position points located above the connection lines is cleared from the elevation map; wherein, the laser sensor is installed above the hopper and is used for laser positioning data acquisition and laser scanning of the hopper.

[0147] In an optional implementation manner, the material level detection device further includes: a capacity estimation module; wherein, the capacity estimation module is configured to:

[0148] Obtain the first historical material surface height of each unit measurement area in the empty state of the hopper and the second historical material surface height of each unit measurement area in the full state of the hopper from multiple historical versions of the elevation map corresponding to the hopper;

[0149] Estimate the material capacity in the hopper at the current moment according to the latest material surface height, the first historical material surface height, and the second historical material surface height corresponding to each unit measurement area.

[0150] In an optional implementation manner, the material level detection device further includes: a material shortage detection module; wherein, the material shortage detection module is configured to:

[0151] When it is detected that the material capacity is less than or equal to a preset loading threshold, determine that the hopper is a hopper with material shortage, and send a loading control instruction for the hopper to the working vehicle in the operation scenario.

[0152] In an optional implementation manner, the material shortage detection module is further configured to:

[0153] When it is detected that there are multiple hoppers with material shortage in the operation scenario, determine the material shortage degrees corresponding to the multiple hoppers with material shortage according to the differences between the material capacities of the multiple hoppers with material shortage and the preset loading thresholds configured for the multiple hoppers with material shortage;

[0154] Send loading control instructions for each hopper with material shortage to the working vehicle in the operation scenario in the order from high to low of the material shortage degree.

[0155] In an optional implementation manner, the material level detection device further includes: a bucket detection module; wherein, the bucket detection module is configured to:

[0156] According to the position information of the hopper in the operation scenario, determine a first projection area corresponding to the material taking port area of the hopper from the existing laser point cloud data of the operation scenario;

[0157] Based on the position information of the work vehicle in the work scenario, determine a second projection area corresponding to the bucket of the work vehicle from the existing lidar point cloud data of the work scenario;

[0158] When it is detected that there is an intersection between the first projection area and the second projection area, determine that the bucket of the work vehicle is in the working state, and stop updating the material surface height corresponding to each unit measurement area in the elevation map until there is no longer an intersection between the first projection area and the second projection area.

[0159] In an alternative embodiment, when determining the second projection area corresponding to the bucket of the work vehicle from the existing lidar point cloud data of the work scenario, the bucket detection module is further configured to:

[0160] Determine the global position information of the bucket in the world coordinate system according to the relative position information between the bucket and the rear body of the work vehicle and the global position information of the rear body in the world coordinate system;

[0161] Perform coordinate transformation on the global position information of the bucket in the world coordinate system according to the coordinate transformation matrix between the lidar positioning coordinate system corresponding to the existing lidar point cloud data and the world coordinate system, to obtain the bucket position information of the bucket in the lidar positioning coordinate system;

[0162] Determine a second projection area corresponding to the bucket of the work vehicle from the existing lidar point cloud data of the work scenario according to the bucket position information of the bucket in the lidar positioning coordinate system.

[0163] Based on the above-mentioned material level detection device provided by the embodiments of the present application, collect the lidar positioning data of at least one hopper in the work scenario, and establish an elevation map corresponding to the hopper according to the collected lidar positioning data; perform lidar scanning on the material taking port area of the hopper to obtain the material surface measurement height corresponding to each unit measurement area in the hopper; update the material surface height corresponding to each unit measurement area in the elevation map according to the material surface measurement height, target variance, and data measurement deviation corresponding to each unit measurement area, to obtain the latest material surface height corresponding to each unit measurement area in the hopper. In this way, the present application can update the material surface height information recorded in the elevation map according to the material surface height measurement data, elevation map data error, and data measurement deviation caused by data measurement, to obtain more accurate material surface height information.

[0164] Based on the same inventive concept, the present application also provides an electronic device corresponding to the above-mentioned material level detection method. Since the principle of solving problems by the electronic device in the embodiments of the present application is similar to that of the above-mentioned material level detection method in the embodiments of the present application, the implementation of the electronic device can refer to the implementation of the above-mentioned material level detection method, and the repeated parts will not be elaborated.

[0165] Figure 7 This is a schematic structural diagram of an electronic device 700 provided by an embodiment of the present application, including: a processor 701, a memory 702, and a bus 703. The memory 702 stores machine-readable instructions executable by the processor 701. When the electronic device runs a material level detection method as in the embodiment, communication between the processor 701 and the memory 702 is through the bus 703, and the processor 701 executes the machine-readable instructions. Wherein, when the processor 701 executes the machine-readable instructions, the following steps are implemented. Specifically:

[0166] Collect laser positioning data of at least one hopper in the operation scenario, and establish an elevation map corresponding to the hopper according to the collected laser positioning data; wherein, the elevation map includes the material surface height and the target variance corresponding to each unit measurement area in the hopper; the target variance is determined according to the material surface height corresponding to each unit measurement area.

[0167] Perform laser scanning on the material taking port area of the hopper to obtain the material surface measurement height corresponding to each unit measurement area in the hopper.

[0168] Update the material surface height corresponding to each unit measurement area in the elevation map according to the material surface measurement height corresponding to each unit measurement area, the target variance, and the data measurement deviation, to obtain the latest material surface height corresponding to each unit measurement area in the hopper; wherein, the data measurement deviation represents the data acquisition error of the laser positioning data and the scanning error of the laser scanning.

[0169] In an alternative embodiment, the processor 701 is further configured to:

[0170] Collect the laser positioning data of the hopper and perform laser scanning on the material taking port area from above the hopper through a laser sensor installed above the hopper in the operation scenario; wherein, the number of the laser sensors is determined according to the laser scanning range of the laser sensor, the number of hoppers, and the area of the material taking port area of the hopper.

[0171] In an alternative embodiment, the data measurement deviation is determined according to the estimated variance of the laser sensor.

[0172] In an alternative embodiment, after performing laser scanning on the material taking port area of the hopper, the processor 701 is configured to:

[0173] When updating the elevation map, for the abnormal unit measurement area in the hopper that is not scanned by the laser, calculate the sum value between the target variance corresponding to the abnormal unit measurement area and the preset variance, and update the target variance corresponding to the abnormal unit measurement area in the elevation map according to the calculated sum value.

[0174] In an alternative embodiment, the processor 701 is further configured to:

[0175] When it is detected that the material surface height corresponding to each unit measurement area in the elevation map changes, according to the connection lines between each measurement position point in the unit measurement area and the center point of the laser sensor, clear the material surface height information corresponding to the measurement position points located above the connection lines from the elevation map; wherein, the laser sensor is installed above the hopper and is used for laser positioning data acquisition and laser scanning of the hopper.

[0176] In an alternative embodiment, the processor 701 is further configured to:

[0177] Obtain the first historical material surface height of each unit measurement area in the empty state of the hopper and the second historical material surface height of each unit measurement area in the full state of the hopper from multiple historical versions of the elevation map corresponding to the hopper;

[0178] Estimate the material capacity in the hopper at the current moment according to the latest material surface height, the first historical material surface height, and the second historical material surface height corresponding to each unit measurement area.

[0179] In an alternative embodiment, the processor 701 is further configured to:

[0180] When it is detected that the material capacity is less than or equal to the preset loading threshold, determine that the hopper is a hopper lacking material, and send a loading control instruction for the hopper to the operating vehicle in the operation scenario.

[0181] In an alternative embodiment, the processor 701 is further configured to:

[0182] When it is detected that there are multiple hoppers lacking material in the operation scenario, determine the degree of material shortage corresponding to each of the multiple hoppers lacking material according to the difference between the material capacity of the multiple hoppers lacking material and the preset loading thresholds configured for the multiple hoppers lacking material;

[0183] Send loading control instructions for each of the hoppers lacking material to the operating vehicle in the operation scenario in sequence according to the order of the degree of material shortage from high to low.

[0184] In an alternative embodiment, the processor 701 is further configured to:

[0185] According to the position information of the hopper in the operation scenario, determine a first projection area corresponding to the material taking port area of the hopper from the existing laser point cloud data of the operation scenario;

[0186] According to the position information of the work vehicle in the operation scenario, determine a second projection area corresponding to the bucket of the work vehicle from the existing laser point cloud data of the operation scenario;

[0187] When it is detected that there is an intersection between the first projection area and the second projection area, determine that the bucket of the work vehicle is in an operating state, and stop updating the material surface height corresponding to each unit measurement area in the elevation map until there is no longer an intersection between the first projection area and the second projection area.

[0188] In an alternative embodiment, when determining the second projection area corresponding to the bucket of the work vehicle from the existing laser point cloud data of the operation scenario, the processor 701 is further configured to:

[0189] According to the relative position information between the bucket and the rear body of the work vehicle and the global position information of the rear body in the world coordinate system, determine the global position information of the bucket in the world coordinate system;

[0190] According to the coordinate transformation matrix between the laser positioning coordinate system corresponding to the existing laser point cloud data and the world coordinate system, perform coordinate transformation on the global position information of the bucket in the world coordinate system to obtain the bucket position information of the bucket in the laser positioning coordinate system;

[0191] According to the bucket position information of the bucket in the laser positioning coordinate system, determine a second projection area corresponding to the bucket of the work vehicle from the existing laser point cloud data of the operation scenario.

[0192] Through the above electronic device provided by the embodiments of the present application, collect the laser positioning data of at least one hopper in the operation scenario, and establish an elevation map corresponding to the hopper according to the collected laser positioning data; perform laser scanning on the material taking port area of the hopper to obtain the measured material surface height corresponding to each unit measurement area in the hopper; according to the measured material surface height, target variance, and data measurement deviation corresponding to each unit measurement area, update the material surface height corresponding to each unit measurement area in the elevation map to obtain the latest material surface height corresponding to each unit measurement area in the hopper. In this way, the present application can update the material surface height information recorded in the elevation map according to the material surface height measurement data, elevation map data error, and data measurement deviation caused by data measurement, so as to obtain more accurate material surface height information.

[0193] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the processor executes the following steps:

[0194] Collect the laser positioning data of at least one hopper in the operation scenario, and establish an elevation map corresponding to the hopper according to the collected laser positioning data; wherein, the elevation map includes the material surface height and the target variance corresponding to each unit measurement area in the hopper; the target variance is determined according to the material surface height corresponding to each unit measurement area;

[0195] Perform laser scanning on the material taking port area of the hopper to obtain the measured material surface height corresponding to each unit measurement area in the hopper;

[0196] Update the material surface height corresponding to each unit measurement area in the elevation map according to the measured material surface height corresponding to each unit measurement area, the target variance, and the data measurement deviation, to obtain the latest material surface height corresponding to each unit measurement area in the hopper; wherein, the data measurement deviation represents the data acquisition error of the laser positioning data and the scanning error of the laser scanning.

[0197] In an alternative embodiment, the processor is further configured to:

[0198] Collect the laser positioning data of the hopper and perform laser scanning on the material taking port area from above the hopper through a laser sensor installed above the hopper in the operation scenario; wherein, the number of the laser sensors is determined according to the laser scanning range of the laser sensors, the number of hoppers, and the area of the material taking port area of the hopper.

[0199] In an alternative embodiment, the data measurement deviation is determined according to the estimated variance of the laser sensor.

[0200] In an alternative embodiment, after performing laser scanning on the material taking port area of the hopper, the processor is configured to:

[0201] When updating the elevation map, for the abnormal unit measurement areas in the hopper that are not scanned by the laser, calculate the sum value between the target variance corresponding to the abnormal unit measurement area and the preset variance, and update the target variance corresponding to the abnormal unit measurement area in the elevation map according to the calculated sum value.

[0202] In an alternative embodiment, the processor is further configured to:

[0203] When it is detected that the material surface height corresponding to each unit measurement area in the elevation map changes, according to the connection lines between each measurement position point in the unit measurement area and the center point of the laser sensor, the material surface height information corresponding to the measurement position points located above the connection lines is cleared from the elevation map; wherein, the laser sensor is installed above the hopper and is used for collecting laser positioning data and performing laser scanning on the hopper.

[0204] In an optional implementation manner, the processor is further configured to:

[0205] Obtain, from multiple historical versions of the elevation map corresponding to the hopper, the first historical material surface height of each unit measurement area in the empty state of the hopper and the second historical material surface height of each unit measurement area in the full state of the hopper;

[0206] Estimate the material capacity in the hopper at the current moment according to the latest material surface height, the first historical material surface height, and the second historical material surface height corresponding to each unit measurement area.

[0207] In an optional implementation manner, the processor is further configured to:

[0208] When it is detected that the material capacity is less than or equal to a preset loading threshold, determine that the hopper is a hopper lacking materials, and send a loading control instruction for the hopper to the working vehicle in the operation scenario.

[0209] In an optional implementation manner, the processor is further configured to:

[0210] When it is detected that there are multiple hoppers lacking materials in the operation scenario, determine the degree of material shortage corresponding to each of the multiple hoppers lacking materials according to the difference between the material capacity of the multiple hoppers lacking materials and the preset loading thresholds configured for the multiple hoppers lacking materials;

[0211] Send loading control instructions for each of the hoppers lacking materials to the working vehicle in the operation scenario in the order from the highest to the lowest degree of material shortage.

[0212] In an optional implementation manner, the processor is further configured to:

[0213] According to the position information of the hopper in the operation scenario, determine a first projection area corresponding to the material taking port area of the hopper from the existing laser point cloud data of the operation scenario;

[0214] According to the position information of the working vehicle in the operation scenario, determine a second projection area corresponding to the bucket of the working vehicle from the existing laser point cloud data of the operation scenario;

[0215] When it is detected that there is an intersection between the first projection area and the second projection area, it is determined that the bucket of the work vehicle is in the working state, and the update of the material surface height corresponding to each unit measurement area in the elevation map is stopped until there is no longer an intersection between the first projection area and the second projection area.

[0216] In an alternative embodiment, when determining the second projection area corresponding to the bucket of the work vehicle from the existing lidar point cloud data of the work scene, the processor is further configured to:

[0217] Determine the global position information of the bucket in the world coordinate system according to the relative position information between the bucket and the rear body of the work vehicle and the global position information of the rear body in the world coordinate system;

[0218] Perform coordinate transformation on the global position information of the bucket in the world coordinate system according to the coordinate transformation matrix between the lidar positioning coordinate system corresponding to the existing lidar point cloud data and the world coordinate system to obtain the bucket position information of the bucket in the lidar positioning coordinate system;

[0219] Determine the second projection area corresponding to the bucket of the work vehicle from the existing lidar point cloud data of the work scene according to the bucket position information of the bucket in the lidar positioning coordinate system.

[0220] Through the above computer-readable storage medium provided by the embodiments of the present application, the lidar positioning data of at least one hopper in the work scene is collected, and an elevation map corresponding to the hopper is established according to the collected lidar positioning data; the feeding port area of the hopper is scanned by lidar to obtain the material surface measurement height corresponding to each unit measurement area in the hopper; according to the material surface measurement height, target variance, and data measurement deviation corresponding to each unit measurement area, the material surface height corresponding to each unit measurement area in the elevation map is updated to obtain the latest material surface height corresponding to each unit measurement area in the hopper. In this way, the present application can update the material surface height information recorded in the elevation map according to the material surface height measurement data, elevation map data error, and data measurement deviation caused by data measurement to obtain more accurate material surface height information.

[0221] In the embodiments of the present application, when the computer-readable storage medium is run by the processor, other machine-readable instructions may also be executed to perform other material level detection methods described in the embodiments. For the specific steps and principles of the executed material level detection method, refer to the description of the method side embodiments, which will not be elaborated here.

[0222] In the embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. The system embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some communication interfaces. The indirect couplings or communication connections of the systems or units can be in electrical, mechanical or other forms.

[0223] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0224] In addition, each functional unit in the embodiments provided in this application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0225] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art or part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0226] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0227] Finally, it should be noted that the above-described embodiments are only specific implementation manners of the present application, used to illustrate the technical solutions of the present application, rather than limiting it. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that any person skilled in the art within the technical scope disclosed by the present application can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application. All should be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A material level detection method, characterized in that, The material level detection method includes: Collecting laser positioning data of at least one hopper in the operation scenario, and establishing an elevation map corresponding to the hopper according to the collected laser positioning data; wherein, the elevation map includes the material surface height and the target variance corresponding to each unit measurement area in the hopper; the target variance is determined according to the material surface height corresponding to each unit measurement area; Performing laser scanning on the material taking port area of the hopper to obtain the measured material surface height corresponding to each unit measurement area in the hopper; Updating the material surface height corresponding to each unit measurement area in the elevation map according to the measured material surface height corresponding to each unit measurement area, the target variance, and the data measurement deviation, to obtain the latest material surface height corresponding to each unit measurement area in the hopper; wherein, the data measurement deviation represents the data acquisition error of the laser positioning data and the scanning error of the laser scanning.

2. The material level detection method according to claim 1, wherein Collecting the laser positioning data of the hopper and performing laser scanning on the material taking port area from above the hopper through a laser sensor installed above the hopper in the operation scenario; wherein, the number of the laser sensors is determined according to the laser scanning range of the laser sensor, the number of hoppers, and the area of the material taking port area of the hopper.

3. The level detection method according to claim 2, wherein The data measurement deviation is determined according to the estimated variance of the laser sensor.

4. The material level detection method according to claim 1, characterized in that After performing laser scanning on the material taking port area of the hopper, the material level detection method further includes: When updating the elevation map, for the abnormal unit measurement area in the hopper that has not been laser scanned, calculating the sum value between the target variance corresponding to the abnormal unit measurement area and a preset variance, and updating the target variance corresponding to the abnormal unit measurement area in the elevation map according to the calculated sum value.

5. The material level detection method according to claim 1, wherein The material level detection method further includes: When it is detected that the material surface height corresponding to each unit measurement area in the elevation map changes, according to the connection lines between each measurement position point in the unit measurement area and the center point of the laser sensor, clearing the material surface height information corresponding to the measurement position points located above the connection lines from the elevation map; wherein, the laser sensor refers to the laser sensor installed above the hopper for collecting laser positioning data and performing laser scanning on the hopper.

6. The material level detection method according to claim 1, wherein The material level detection method further includes: Obtaining the first historical material surface height of each unit measurement area in the empty state of the hopper and the second historical material surface height of each unit measurement area in the full state of the hopper from multiple historical versions of the elevation map corresponding to the hopper; Estimating the material capacity in the hopper at the current moment according to the latest material surface height, the first historical material surface height, and the second historical material surface height corresponding to each unit measurement area.

7. The level detection method according to claim 6, characterized in that The material level detection method further includes: When it is detected that the material capacity is less than or equal to a preset loading threshold, determining that the hopper is a hopper lacking materials, and sending a loading control instruction for the hopper to the operation vehicle in the operation scenario.

8. The level detection method according to claim 7, characterized in that The material level detection method further includes: When multiple empty hoppers are detected in the operation scenario, determine the degree of material shortage corresponding to each of the multiple empty hoppers according to the difference between the material capacity of the multiple empty hoppers and the preset loading threshold configured for the multiple empty hoppers; Send loading control instructions for each of the empty hoppers to the operation vehicles in the operation scenario in descending order of the degree of material shortage.

9. The material level detection method according to claim 1, wherein The material level detection method further includes: According to the position information of the hopper in the operation scenario, determine the first projection area corresponding to the material taking port area of the hopper from the existing laser point cloud data of the operation scenario; According to the position information of the operation vehicle in the operation scenario, determine the second projection area corresponding to the bucket of the operation vehicle from the existing laser point cloud data of the operation scenario; When an intersection is detected between the first projection area and the second projection area, determine that the bucket of the operation vehicle is in an operating state, and stop updating the material surface height corresponding to each unit measurement area in the elevation map until there is no longer an intersection between the first projection area and the second projection area.

10. The material level detection method according to claim 9, wherein, The determining the second projection area corresponding to the bucket of the operation vehicle from the existing laser point cloud data of the operation scenario includes: According to the relative position information between the bucket and the rear vehicle body of the operation vehicle and the global position information of the rear vehicle body in the world coordinate system, determine the global position information of the bucket in the world coordinate system; According to the coordinate transformation matrix between the laser positioning coordinate system corresponding to the existing laser point cloud data and the world coordinate system, perform coordinate transformation on the global position information of the bucket in the world coordinate system to obtain the bucket position information of the bucket in the laser positioning coordinate system; According to the bucket position information of the bucket in the laser positioning coordinate system, determine the second projection area corresponding to the bucket of the operation vehicle from the existing laser point cloud data of the operation scenario.

11. A material level detection device, characterized in that, The material level detection device includes: A construction module, configured to collect laser positioning data of at least one hopper in the operation scenario, and establish an elevation map corresponding to the hopper according to the collected laser positioning data; wherein, the elevation map includes the material surface height and the target variance corresponding to each unit measurement area in the hopper; the target variance is determined according to the material surface height corresponding to each unit measurement area; A measurement module, configured to perform laser scanning on the material taking port area of the hopper to obtain the measured material surface height corresponding to each unit measurement area in the hopper; An update module, configured to update the material surface height corresponding to each unit measurement area in the elevation map according to the measured material surface height corresponding to each unit measurement area, the target variance, and the data measurement deviation, to obtain the latest material surface height corresponding to each unit measurement area in the hopper; wherein, the data measurement deviation represents the data acquisition error of the laser positioning data and the scanning error of the laser scanning.

12. An electronic device, characterized in that, Includes: A processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the steps of the material level detection method according to any one of claims 1 to 10 are performed.

13. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium. When the computer program is run by a processor, the steps of the material level detection method according to any one of claims 1 to 10 are performed.

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