Information processing method and device, equipment and medium

Abstract

The embodiment of the invention provides an information processing method and device, equipment and a medium. The information processing method comprises the steps that the current position of a vehicle, original garage position information of an original garage, first area information of a loadable area and second area information of a mining work area are obtained; under the condition that it is determined that at least part of the original garage does not exist in the loadable area, N deduced garages existing in the loadable area and garage position information of each deduced garage are determined based on the original garage position information and the first area information; for each deduced garage in the N deduced garages, determining garage reference information of the deduced garages based on the garage position information and the target information of the deduced garages; and performing path planning based on the current position of the vehicle and the garage position information of the target garage to obtain a path for driving the vehicle to the target garage. According to the embodiment of the invention, the vehicle can accurately and effectively reach the loadable area for loading.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of information processing, and particularly relates to an information processing method and device, equipment and a medium. BACKGROUND

[0002] In real life, when mining in a mine, a mine truck is usually used to transport between a loadable point and an unloading point. A loader is used to load the mine truck at the loadable point, and after loading is completed, the mine truck transports the loaded materials to the unloading point for unloading. However, since the loadable point in the mining area and the environment around the loadable point can change at any time, the efficiency of the mine truck reaching the loadable point is low. SUMMARY

[0003] The embodiments of the present application provide an information processing method, device, equipment and medium, which can make the vehicle accurately and effectively reach the loadable area for loading, and improve the efficiency of the vehicle reaching the loadable area.

[0004] In a first aspect, the embodiments of the present application provide an information processing method, which comprises:

[0005] obtaining a current position of a vehicle, original garage position information of an original garage, first area information of a loadable area, and second area information of a digging work area;

[0006] In a case where at least part of the original garage does not exist in the loadable area, determining N deduced garages existing in the loadable area and garage position information of each deduced garage based on the original garage position information and the first area information, N being a positive integer;

[0007] For each of the N deduced garages, determining garage reference information of the deduced garage based on the garage position information of the deduced garage and target information, the garage reference information comprising information for screening a target garage from the N deduced garages, the target information comprising the original garage position information, or the first area information and the second area information;

[0008] performing path planning based on the current position of the vehicle and the garage position information of the target garage to obtain a path for the vehicle to travel to the target garage.

[0009] In an optional embodiment of the first aspect, the first area information of the loadable area comprises a plurality of contour positioning points and a position of each contour positioning point.

[0010] In a case that it is determined that at least part of the original garage does not exist in the loadable area based on the original garage position information and the first area information, before determining the N derived garages existing in the loadable area and the garage position information of each derived garage based on the original garage position information and the first area information, the method further comprises:

[0011] For each of the plurality of contour positioning points, it is determined whether the contour positioning point exists in the original garage based on the position of the contour positioning point and the original garage position information, to obtain a plurality of determination results;

[0012] In a case that the target determination result represents that the contour positioning point corresponding to the target determination result exists in the original garage, the target determination result being any one of the plurality of determination results, it is determined that at least part of the original garage does not exist in the loadable area.

[0013] In an optional implementation of the first aspect, the original garage position information comprises a plurality of original garage positioning points;

[0014] The method further comprises:

[0015] M garage correction information is obtained, each garage correction information comprising at least one of a lateral correction distance, a longitudinal correction distance and a correction angle, M being greater than or equal to N;

[0016] For each of the M garage correction information, the plurality of original garage positioning points are respectively corrected based on the garage correction information to obtain the garage position information of the derived garage corresponding to the garage correction information, to obtain the garage position information of the M derived garages;

[0017] Based on the garage position information of the M derived garages and the first area information, the N derived garages existing in the loadable area are determined from the M derived garages, and the garage position information of each derived garage is determined.

[0018] In an optional implementation of the first aspect, the garage reference information comprises a garage cost, the garage cost being used to represent the degree of deviation of the derived garage from the original garage in the first preset direction, and the target information comprises the original garage position information;

[0019] The method further comprises:

[0020] Based on the garage position information of the derived garage and the original garage position information, the deviation of the derived garage from the original garage in the first preset direction is determined;

[0021] The offsets are weighted and summed according to preset weights to obtain the garage cost of the derived garage.

[0022] In an optional implementation of the first aspect, the garage reference information further includes a garage category, the garage category being used to characterize the priority of the vehicle in performing a loading task at the derived garage; the target information includes first area information and second area information;

[0023] The determining, based on the garage position information and target information of the deduced garage, garage reference information of the deduced garage includes:

[0024] Based on the garage location information of the deduced garage and the second area information of the excavation work area, determining whether the deduced garage is within the excavation work area to obtain a first determination result;

[0025] Based on the area position information of the detection area and the first area information of the loadable area, it is determined whether the detection area is within the loadable area to obtain a second judgment result. The detection area is an area obtained by offsetting the derived garage to a preset distance in a second preset direction, and the detection area includes an idle area.

[0026] Based on the first judgment result and the second judgment result, a garage category of the derived garage is determined.

[0027] In an optional implementation of the first aspect, the garage reference information includes a garage cost and a garage category;

[0028] Before performing path planning based on the current position of the vehicle and the garage location information of the target garage to obtain a path for the vehicle to travel to the target garage, the method further includes:

[0029] For the i-th derived garage among the N derived garages, determine the garage cost difference and priority difference between the i-th derived garage and the i+1-th derived garage. The priority difference represents the degree of difference between the priority represented by the garage category of the i-th derived garage and the priority represented by the garage category of the i+1-th derived garage, where i is greater than or equal to 1 and less than or equal to N.

[0030] When the garage cost difference is less than a preset threshold, the garage with the highest priority represented by the garage category among the i-th derivation garage and the i+1-th derivation garage is determined as the i-th derivation garage;

[0031] When the garage cost difference is greater than or equal to a preset threshold, the garage with the lowest priority represented by the garage category between the i-th derivation garage and the (i+1)-th derivation garage is determined as the i-th derivation garage;

[0032] determining the i+1+jth deduced garage in the N deduced garages as the i+1th deduced garage, j=j+1, and returning to the step of determining the garage cost difference and the priority level difference between the i th deduced garage and the i+1th deduced garage until i+1+j=N, and determining the i th deduced garage as the target garage.

[0033] In an optional implementation of the first aspect, after path planning based on the current position of the vehicle and the garage position information of the target garage to obtain the path for the vehicle to travel to the target garage, the method further comprises:

[0034] obtaining obstacle information, the obstacle information comprising obstacle positions and obstacle sizes of a plurality of obstacles, the plurality of obstacles comprising a first obstacle within a preset range of the target garage and / or a second obstacle blocking the path;

[0035] adjusting the path for the vehicle to travel to the target garage according to the obstacle information to obtain an adjusted path for the vehicle to travel to the target garage.

[0036] In a second aspect, an embodiment of the present application provides an information processing device, the device comprising:

[0037] an obtaining module configured to obtain a current position of a vehicle, original garage position information of an original garage, first region information of a loadable region, and second region information of a mining work region;

[0038] a determining module configured to, in a case where at least part of the original garage is determined not to exist in the loadable region, determine, based on the original garage position information and the first region information, N deduced garages existing in the loadable region and garage position information of each deduced garage, N being a positive integer;

[0039] The determining module is further configured to, for each deduced garage in the N deduced garages, determine garage reference information of the deduced garage based on the garage position information of the deduced garage and target information, the garage reference information comprising information for screening the target garage from the N deduced garages, and the target information comprising the original garage position information, or the first region information and the second region information.

[0040] a path planning module configured to perform path planning based on the current position of the vehicle and the garage position information of the target garage to obtain a path for the vehicle to travel to the target garage.

[0041] In a third aspect, an electronic device is provided, comprising a memory configured to store computer program instructions, and a processor configured to read and run the computer program instructions stored in the memory to execute the information processing method provided in any optional implementation of the first aspect.

[0042] In a fourth aspect, a computer storage medium is provided. The computer storage medium stores computer program instructions. When the computer program instructions are executed by a processor, the information processing method according to any of the optional implementation forms of the first aspect is implemented.

[0043] In a fifth aspect, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, the information processing method according to any of the optional implementation forms of the first aspect is implemented.

[0044] In the embodiments of the present application, the current position of the vehicle, the original garage position information of the original garage, the first area information of the loadable area and the second area information of the excavation work area can be acquired. When it is determined that at least part of the original garage does not exist in the loadable area, the N derived garages existing in the loadable area and the garage information of each derived garage are determined based on the original garage position information and the first area information. Then, the garage reference information of each derived garage in the N derived garages is determined based on the garage position information of the derived garage and the target information, so as to filter the optimal target garage from the N derived garages based on the garage reference information. Then, the path planning is performed based on the current position of the vehicle and the garage position information of the target garage, so as to obtain the path for the vehicle to travel to the target garage. In this way, the vehicle can be effectively and accurately guided to the loadable area for loading task in consideration of the complex and changeable mine area environment, and the efficiency of the vehicle reaching the loadable area is improved. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced. Those skilled in the art can obtain other drawings according to these drawings without creating any creative labor.

[0046] Figure 1 is one of the flowcharts of the information processing method provided by the embodiments of the present application;

[0047] Figure 2 is another flowchart of the information processing method provided by the embodiments of the present application;

[0048] Figure 3 is a third flowchart of the information processing method provided by the embodiments of the present application;

[0049] Figure 4 is a fourth flowchart of the information processing method provided by the embodiments of the present application;

[0050] Figure 5 is a structural schematic diagram of the information processing device provided by the embodiments of the present application;

[0051] Figure 6 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0052] The features and exemplary embodiments of various aspects of the present application will be described below in detail, in order to make the purposes, technical solutions and advantages of the present application more clear and apparent, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0053] It should be noted that, in this paper, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0054] The term "and / or" in this paper is only a description of the association relationship between the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone.

[0055] To solve the problems in the background art, the embodiments of the present application provide an information processing method, device, equipment and medium, which can obtain the current position of the vehicle, the original garage position information of the original garage, the first area information of the loadable area and the second area information of the excavation working area, and in the case that at least part of the original garage does not exist in the loadable area, determine N derived garages existing in the loadable area and the garage information of each derived garage based on the original garage position information and the first area information, and then determine the garage reference information of each derived garage in the N derived garages based on the garage position information of the derived garage and the target information, so as to filter the optimal target garage from the N derived garages based on the garage reference information, and then perform path planning based on the current position of the vehicle and the garage position information of the target garage to obtain the path for the vehicle to travel to the target garage. In this way, the vehicle can be effectively and accurately made to reach the loadable area for loading task in consideration of the complex and changeable conditions of the mining area, and the efficiency of the vehicle reaching the loadable area is improved.

[0056] The information processing method provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0057] Figure 1 is a flowchart of an information processing method provided by the embodiments of the present application.

[0058] As shown in Figure 1 , the execution subject of the information processing method can be a vehicle, which can be a mining truck or other vehicles, which is not limited here. The method can specifically include the following steps:

[0059] S110, obtaining the current position of the vehicle, the original garage position information of the original garage, the first area information of the loadable area and the second area information of the excavation working area.

[0060] Specifically, the vehicle can obtain the current position of the vehicle through the positioning device included therein, and obtain the first area information of the loadable area through the detection device included therein, and obtain the original garage position information of the original garage and the second area information of the excavation working area by receiving the information sent by the excavation device.

[0061] More specifically, the vehicle can receive a request sent by a certain module thereof, and obtain the current position of the vehicle, the original garage position information of the original garage, the first area information of the loadable area and the second area information of the excavation working area according to the request.

[0062] The current position of the vehicle can be the actual position of the vehicle at the current time, which is not limited herein. In addition, the original garage can be a pre-set or defined garage range, and the original garage position information can include a plurality of original garage positioning points, which can include a garage center positioning point and a plurality of garage contour positioning points, which are not limited herein. In addition, the positioning device can be a global positioning system (GPS) or other positioning device inside the vehicle, which is not limited herein.

[0063] The loadable area can be an area that can perform a loading task detected by a detection device of the vehicle, which can be a radar, which is not limited herein. Based on this, the first area information can include a plurality of first area positioning points, which can include a first area center positioning point and a plurality of contour positioning points, which are not limited herein.

[0064] Correspondingly, the excavation working area can be the area range of the excavation device. Based on this, the second area information can include a plurality of second area positioning points, which can include a second area center positioning point and a plurality of excavation contour positioning points, which are not limited herein. It should be noted that the excavation working area can be generated according to the excavator positioning point and the minimum excavatable distance L1 to generate a circular area area_1, and according to the excavator positioning point and the maximum excavatable distance L2 to generate a circular area area_2. The annular area formed by the area area_1 and the area area_2 is the excavation working area.

[0065] S120, in the case where at least part of the original garage does not exist in the loadable area, determining N derived garages existing in the loadable area and garage position information of each derived garage based on the original garage position information and the first area information.

[0066] N is a positive integer. In addition, the garage position information of the derived garage is similar to the original garage position information, which is not limited herein.

[0067] Specifically, after the vehicle obtains the original garage position information and the first area information, it can first determine whether the original garage completely exists in the loadable area based on the original garage position information and the first area information. If it is determined that at least part of the original garage does not exist in the loadable area, N derived garages existing in the loadable area and garage position information of each derived garage can be determined based on the original garage position information and the first area information.

[0068] S130, for each of the N deduced garages, determining garage reference information of the deduced garage based on the garage location information of the deduced garage and the target information.

[0069] In some embodiments, the garage reference information comprises information for screening the target garage from the N deduced garages. In addition, the target information can comprise the original garage location information, or the first area information and the second area information.

[0070] Specifically, the vehicle can determine, for each of the N deduced garages, the garage reference information of the deduced garage based on the garage location information of the deduced garage and the original garage location information, or determine, for each of the N deduced garages, the garage reference information of the deduced garage based on the garage location information of the deduced garage, the first area information and the second area information.

[0071] S140, performing path planning based on the current position of the vehicle and the garage location information of the target garage to obtain a path for the vehicle to travel to the target garage.

[0072] Specifically, since the garage reference information comprises information for screening the target garage from the N deduced garages, based on this, the vehicle can perform path planning based on the current position of the vehicle and the garage location information of the target garage to obtain a path for the vehicle to travel to the target garage.

[0073] It should be noted that, in the case where it is determined that the original garage exists in the loadable area, the vehicle can perform path planning based on the current position of the vehicle and the garage center positioning point of the original garage to obtain a path for the vehicle to travel to the original garage.

[0074] In the embodiments of the present application, the current position of the vehicle, the original garage location information of the original garage, the first area information of the loadable area and the second area information of the excavation work area can be obtained, and in the case where it is determined that at least part of the original garage does not exist in the loadable area, the N deduced garages existing in the loadable area and the garage information of each deduced garage are determined based on the original garage location information and the first area information, and then the garage reference information of each of the N deduced garages is determined based on the garage location information of the deduced garage and the target information, so as to screen the optimal target garage from the N deduced garages based on the garage reference information, and then perform path planning based on the current position of the vehicle and the garage location information of the target garage to obtain a path for the vehicle to travel to the target garage. In this way, the vehicle can be effectively and accurately caused to reach the loadable area for loading task in consideration of the complex and changeable conditions of the mining area, and the efficiency of the vehicle reaching the loadable area is improved.

[0075] In some embodiments, the first region information of the loadable region involves a plurality of contour positioning points. Based on this, before S120, the information processing method further includes the following steps:

[0076] For each contour positioning point in the plurality of contour positioning points, based on the original garage location information, it is determined whether the contour positioning point exists in the original garage, and a plurality of determination results are obtained.

[0077] In a case where the target determination result represents that the contour positioning point corresponding to the target determination result exists in the original garage, it is determined that at least part of the original garage does not exist in the loadable region.

[0078] The target determination result is any one of the plurality of determination results.

[0079] Specifically, since the first region information of the loadable region can include a plurality of contour positioning points, based on this, the vehicle can determine, for each contour positioning point in the plurality of contour positioning points, based on the original garage location information, whether the contour positioning point exists in the original garage, obtain a determination result corresponding to the contour positioning point, and further obtain a plurality of determination results. The plurality of determination results correspond one-to-one to the plurality of contour positioning points. In this way, in a case where the target determination result represents that the contour positioning point corresponding to the target determination result exists in the original garage, the vehicle can determine that at least part of the original garage does not exist in the loadable region.

[0080] In this embodiment, since the first region information of the loadable region can include a plurality of contour positioning points, it can be accurately determined whether at least part of the original garage exists in the loadable region by determining whether a target boundary positioning point exists in the original garage.

[0081] In one embodiment, the original garage location information can include a plurality of original garage positioning points, based on which S120 involved can include the following steps:

[0082] M garage correction information is obtained;

[0083] For each garage correction information in the M garage correction information, the plurality of original garage positioning points are respectively corrected based on the garage correction information, and the garage location information of the derived garage corresponding to the garage correction information is obtained, to obtain the garage location information of the M derived garages;

[0084] Based on the garage location information of the M derived garages and the first region information, N derived garages existing in the loadable region are determined from the M derived garages, and the garage location information of each derived garage is determined.

[0085] In some embodiments, each of the above garage correction information includes at least one of a lateral correction distance, a longitudinal correction distance, and a correction angle, and M is greater than or equal to N, M being a positive integer.

[0086] It should be noted that the number of each of the above lateral correction distance, longitudinal correction distance, and correction angle can be multiple or one, which is not limited here.

[0087] Specifically, the vehicle can obtain M garage correction information, and then can correct the plurality of original garage positioning points based on each of the M garage correction information, respectively, to obtain the garage position information of the deduced garage corresponding to the garage correction information, to obtain the garage position information of the M deduced garage, and determine the N deduced garage existing in the loadable area from the M deduced garage based on the garage position information of the M deduced garage and the first area information, and determine the garage position information of each deduced garage.

[0088] In this embodiment, in the case that the original garage does not exist in the loadable area, the original garage can be corrected in the directions of lateral, longitudinal, angle, etc. to obtain N deduced garage existing in the loadable area, so that the vehicle can be effectively and reasonably reached in the loadable area subsequently.

[0089] In one embodiment, the above-mentioned garage reference information can include a garage cost, which is used to represent the offset degree of the deduced garage relative to the original garage in the first preset direction.

[0090] In addition, if the garage reference information includes the garage cost, the target information can include the original garage position information, based on which, as shown in Figure 2 The above-mentioned determination of the garage reference information of the deduced garage based on the garage position information of the deduced garage and the target information can specifically include the following steps:

[0091] S210, determining the offset amount of the deduced garage relative to the original garage in the first preset direction based on the garage position information of the deduced garage and the original garage position information.

[0092] The first preset direction can include a plurality of preset directions, each of which can be a direction set in advance based on experience or situation, which is not limited here. Correspondingly, the number of the above-mentioned offset amount can be multiple or one, which is not limited here.

[0093] Specifically, the vehicle can determine the offset amount of the deduced garage relative to the original garage in the first preset direction based on the garage position information of the deduced garage and the original garage position information.

[0094] S220, performing weighted sum processing on the offsets according to preset weights to obtain a garage cost of the derived garage.

[0095] The preset weights can be weights preset based on actual experience or conditions, and are not limited herein.

[0096] Specifically, the vehicle determines the offset of the derived garage relative to the original garage in the first preset direction, and then performs weighted sum processing on the offset according to the preset weights to obtain the garage cost of the derived garage.

[0097] In one example, the offset can include a longitudinal offset delt_x, a lateral offset delt_y, and an offset angle delt_yaw. The preset weights can include a longitudinal offset weight lon_penalty, a lateral offset weight lateral_penalty, and an angle offset weight yaw_penalty. Based on this, the garage cost (cost) can be determined by the following formula (1).

[0098] cost = lon_penalty * delt_x + lateral_penalty * delt_y + yaw_penalty * delt_yaw (1)

[0099] In this embodiment, the offset of the derived garage relative to the original garage in the first preset direction is determined, and then the weighted sum processing is performed on the offset according to the preset weights to accurately obtain the garage cost of the derived garage, so as to accurately measure the offset degree of the derived garage relative to the original garage.

[0100] In one embodiment, the garage reference information further includes a garage category, and the garage category is used to represent the priority of the vehicle in performing the loading task at the derived garage. In addition, if the garage reference information further includes the garage category, the target information can include the first area information and the second area information.

[0101] Based on this, as shown in Figure 3 the garage reference information of the derived garage can include the following steps:

[0102] S310, based on the garage location information of the derived garage and the second area information of the excavation work area, determining whether the derived garage is in the excavation work area to obtain a first determination result.

[0103] S320, based on the area location information of the detection area and the first area information of the loadable area, determining whether the detection area is in the loadable area to obtain a second determination result.

[0104] S330, determining the garage category of the deduced garage based on the first determination result and the second determination result.

[0105] In some embodiments, the detection area is an area obtained by offsetting the deduced garage by a preset distance in a second preset direction. The second preset direction can be a direction preset based on actual experience or conditions, for example, the second preset direction can be the front of the deduced garage. The above detection area can include a free area to ensure that the deduced garage corresponding to the detection area can pass in the second preset direction of the deduced garage. The above preset distance can be a distance preset based on actual experience or conditions, which is not limited here.

[0106] Specifically, the vehicle can determine whether the deduced garage is in the excavation work area based on the garage location information of the deduced garage and the second area information of the excavation work area to obtain a first determination result, and determine whether the detection area is in the loadable area based on the garage location information of the detection area and the first area information of the loadable area to obtain a second determination result, and then determine the garage category of the deduced garage based on the first determination result and the second determination result.

[0107] In one example, the above garage category can include garage category 1, garage category 2, garage category 3, and garage category 4. Among them, garage category 1 is prior to garage category 2, garage category 2 is prior to garage category 3, and garage category 3 is prior to garage category 4. Based on this, the specific basis for determining the garage category of the deduced garage based on the first determination result and the second determination result is as follows:

[0108] Garage category 1: the detection area is in the loadable area && the deduced garage is in the excavator work area;

[0109] Garage category 2: the deduced garage is in the excavator work area;

[0110] Garage category 3: the detection area is in the loadable area && the deduced garage is not in the excavator work area

[0111] Garage category 4: the deduced garage is not in the excavator work area.

[0112] In this embodiment, when the garage reference information further includes the garage category, the garage category of the deduced garage can be accurately determined based on the target information and the garage location information of the deduced garage, and the priority of the vehicle in the deduced garage for the loading task can be accurately determined.

[0113] In one embodiment, in the case that the garage reference information can include garage cost and garage category, before path planning based on the current location of the vehicle and the garage location information of the target garage to obtain a path for the vehicle to travel to the target garage, the above information processing method can further include the following steps:

[0114] For the i-th derived garage among the N derived garages, determine the garage cost difference between the i-th derived garage and the i+1-th derived garage and the priority level difference, the priority level difference representing the difference between the priority represented by the garage category of the i-th derived garage and the priority represented by the garage category of the i+1-th derived garage, i being greater than or equal to 1 and less than or equal to N;

[0115] In the case that the garage cost difference is less than a preset threshold, determine the derived garage with the maximum priority represented by the garage category among the i-th derived garage and the i+1-th derived garage as the i-th derived garage;

[0116] In the case that the garage cost difference is greater than or equal to the preset threshold, determine the derived garage with the minimum priority represented by the garage category among the i-th derived garage and the i+1-th derived garage as the i-th derived garage;

[0117] Determine the i+1+j-th derived garage among the N derived garages as the i+1-th derived garage, j = j+1, and return to execute the step of determining the garage cost difference between the i-th derived garage and the i+1-th derived garage and the priority level difference, until i+1+j = N, and determine the i-th derived garage as the target garage.

[0118] In some embodiments, the priority level difference represents the difference between the priority represented by the garage category of the i-th derived garage and the priority represented by the garage category of the i+1-th derived garage. Wherein, i is greater than or equal to 1 and less than or equal to N. In addition, the preset threshold is determined based on the priority level difference.

[0119] In one example, assume that the N derived garages include garage 1 (garage category 1, garage cost cost1), garage 2 (garage category 2, garage cost cost2), garage 3 (garage category 3, garage cost cost3), and garage 4 (garage category 3, garage cost cost4).

[0120] Based on this, for garage 1, the garage cost difference between garage 1 and garage 2 can be determined as (cost2-cost1), and the priority level difference is one level. If the preset threshold can be set to a threshold x, if (cost2-cost1) is less than x, then determine garage 1 as the new garage 1, otherwise, determine garage 2 as the new garage 1.

[0121] At this time, the original garage 3 is determined as the new garage 2, and the above process is re-executed: the garage cost difference between the new garage 1 and the new garage 2 is determined as (cost3-cost1), and the priority level difference is two levels, so the preset threshold can be set as 2 times the threshold 2x. Based on this, if (cost2-cost1) is less than 2x, the current garage 1 is determined as the new garage 1, otherwise, the current garage 2 is determined as the new garage 1. In this way, the cycle is repeated.

[0122] In this embodiment, when the garage reference information includes the garage cost and the garage category, the garage cost difference between any two derived garages and the priority level difference can be combined to determine a better target garage from the N derived garages, so that the vehicle can be effectively guided to the loadable area in the subsequent process.

[0123] Based on this, in another embodiment, if the garage reference information includes the garage cost, before path planning based on the current position of the vehicle and the garage position information of the target garage to obtain a path for the vehicle to travel to the target garage, the above-mentioned information processing method can further include the following steps:

[0124] Determine the derived garage with the minimum garage cost from the N derived garages as the target garage.

[0125] In this embodiment, when the garage reference information includes the garage cost, the derived garage with the minimum garage cost can be determined from the N derived garages as the target garage, so that the vehicle can be effectively guided to the loadable area in the subsequent process.

[0126] In yet another embodiment, if the above-mentioned garage reference information can include the garage category, before path planning based on the current position of the vehicle and the garage position information of the target garage to obtain a path for the vehicle to travel to the target garage, the above-mentioned information processing method can further include the following steps:

[0127] Determine at least one derived garage with the maximum priority represented by the garage category from the N derived garages, and determine the target garage from the at least one derived garage.

[0128] Specifically, when the garage reference information includes the garage category, at least one derived garage with the maximum priority represented by the garage category can be determined from the N derived garages, and the target garage can be determined from the at least one derived garage, for example, any one of the at least one derived garage is selected as the target garage.

[0129] In this embodiment, when the garage reference information includes the garage category, the N deduced garages can be considered according to the respective garage categories of the N deduced garages, so as to select a better deduced garage as the target garage from the N deduced garages, thereby facilitating the subsequent effective arrival of the vehicle at the loadable area.

[0130] In one embodiment, as shown in Figure 4 The information processing method described above can further include the following steps:

[0131] S410, obtaining the current position of the vehicle, the original garage position information of the original garage, the first area information of the loadable area, and the second area information of the excavation work area. The specific description of this step can be found in the description of S110 described above, and will not be repeated here.

[0132] S420, in the case where at least part of the original garage does not exist in the loadable area, based on the original garage position information and the first area information, determining N deduced garages existing in the loadable area and the garage position information of each deduced garage. The specific description of this step can be found in the description of S120 described above, and will not be repeated here.

[0133] S430, for each of the N deduced garages, based on the garage position information of the deduced garage and the target information, determining the garage reference information of the deduced garage. The specific description of this step can be found in the description of S130, and will not be repeated here.

[0134] S440, based on the current position of the vehicle and the garage position information of the target garage, path planning is performed to obtain a path for the vehicle to travel to the target garage. The specific description of this step can be found in the description of S140, and will not be repeated here.

[0135] S450, obtaining obstacle information.

[0136] In some embodiments, the obstacle information includes the obstacle position and the obstacle size of a plurality of obstacles, the plurality of obstacles including a first obstacle within a preset range of the target garage, and / or a second obstacle blocking the path. The preset range can be set based on actual experience or circumstances, and will not be limited here.

[0137] Specifically, the vehicle can obtain the related information of the first obstacle within the preset range of the target garage and / or the second obstacle blocking the path, i.e., the obstacle information, through the detection device carried by the vehicle.

[0138] S460, adjusting the path for the vehicle to travel to the target garage according to the obstacle information, to obtain an adjusted path for the vehicle to travel to the target garage.

[0139] Specifically, after the vehicle obtains the obstacle information, the path for the vehicle to travel to the target garage is adjusted according to the obstacle information, and an adjusted path for the vehicle to travel to the target garage is obtained. It should be noted that the process of adjusting the path is divided into two parts: first, the garage position information of the target garage is adjusted according to the obstacle position and obstacle size of the first obstacle in the preset range of the target garage, for example, different garage profiles are set according to the obstacle height (the higher the obstacle height, the farther the garage profile from the left and right distance of the vehicle, and then the corresponding path is adjusted. Second, the path before the vehicle reaches the target garage is adjusted according to the obstacle position and obstacle size of the second obstacle that blocks the path.

[0140] In one example, assuming that the vehicle determines the garage reference information of the A, B, and C garages through S410 to S430, and selects the most suitable target garage based on the garage reference information of the A, B, and C garages, if the target garage is garage B, the vehicle can plan a path for the vehicle to travel to garage B according to the current position of the vehicle and the garage position information of garage B. Based on this, the obstacle information on the path and the obstacle information around garage B can be obtained. If only the obstacle information around garage B can be obtained, the size, position, and other information of garage B can be adjusted adaptively according to the obstacle information around garage B, and the path is planned again according to the adjusted information of garage B to adjust the path obtained before the obstacle is obtained. If only the obstacle information on the path can be obtained, the path is planned again according to the obstacle information on the path to avoid the obstacle that blocks the vehicle travel. If the obstacle information around garage B and the obstacle information on the path can be obtained, the garage position information of garage B is adjusted according to the obstacle information around garage B first, and then the path is planned again according to the adjusted garage position information of garage B and the obstacle information on the path to obtain the final path.

[0141] In one embodiment, the above obstacle information can also include the number of times that the plurality of obstacles block the path, based on which the above 460 can specifically include the following steps:

[0142] In the case where the number of times is less than a preset number of times threshold, the obstacle information is obtained;

[0143] The path for the vehicle to travel to the target garage is adjusted according to the obstacle information, and an adjusted path for the vehicle to travel to the target garage is obtained.

[0144] The number of times refers to the number of times of adjusting the path according to the obstacle information, and the preset number of times threshold can be the maximum number of times of adjusting the path according to the obstacle information, which is set in advance based on experience or situation, and is not limited here.

[0145] Specifically, the vehicle can acquire the obstacle information when the number of times is less than the preset number threshold, and adjust the path for the vehicle to travel to the target garage according to the obstacle information, to obtain the adjusted path for the vehicle to travel to the target garage. In this way, the case that the vehicle always adjusts the path can be avoided.

[0146] In this embodiment, the path can be adaptively adjusted by considering the obstacle information around the target garage and the obstacle information blocking the path, so as to improve the efficiency of the vehicle reaching the loadable area.

[0147] It should be further noted that the present embodiment takes the process of the vehicle starting to travel to the target garage as a garage adaptive event, which can include process progress states and the like, mainly including event start time, event end time, whether garage adaptation is needed, whether a new garage positioning point is acquired, whether autonomous planning is performed, whether autonomous planning is ended, event end marker, event type (module 1 / module 2), and the like. The above information can be recorded during the execution of the garage adaptive event, and will not be described in detail here.

[0148] Based on the same inventive concept, the present embodiment also provides an information processing apparatus. Specifically, the information processing apparatus is used for Figure 5 The information processing apparatus provided by the present embodiment will be described in detail.

[0149] Figure 5 FIG. 1 is a structural schematic diagram of an information processing apparatus provided by an embodiment of the present application.

[0150] As shown in Figure 5 FIG. 5, the information processing apparatus 500 can include an acquisition module 510, a determination module 520, and a path planning module 530.

[0151] The acquisition module 510 is configured to acquire a current position of the vehicle, original garage position information of an original garage, first area information of a loadable area, and second area information of a mining work area.

[0152] The determination module 520 is configured to, when it is determined that at least part of the original garage does not exist in the loadable area, determine, based on the original garage position information and the first area information, N deduced garages existing in the loadable area and garage position information of each deduced garage, N being a positive integer.

[0153] The determining module 520 is further configured to determine, for each of the N deduced garages, garage reference information of the deduced garage based on the garage location information of the deduced garage and the target information, the garage reference information comprising information for screening the target garage from the N deduced garages, the target information comprising the original garage location information, or the first area information and the second area information.

[0154] The path planning module 530 is configured to perform path planning based on the current position of the vehicle and the garage location information of the target garage to obtain a path for the vehicle to travel to the target garage.

[0155] In some embodiments, the first area information of the loadable area comprises a plurality of contour positioning points and a position of each contour positioning point.

[0156] Based on this, the information processing apparatus described above further comprises a judging module.

[0157] The judging module is configured to, before determining, based on the original garage location information and the first area information, that at least part of the original garage does not exist in the loadable area, determine, for each of the plurality of contour positioning points, based on the position of the contour positioning point and the original garage location information, whether the contour positioning point exists in the original garage, to obtain a plurality of judgment results.

[0158] The determining module is further configured to, in a case where the target judgment result indicates that the contour positioning point corresponding to the target judgment result exists in the original garage, determine that at least part of the original garage does not exist in the loadable area, the target judgment result being any one of the plurality of judgment results.

[0159] In one embodiment, the original garage location information comprises a plurality of original garage positioning points; and the information processing apparatus described above can further comprise a correcting module.

[0160] The obtaining module is further configured to obtain M garage correction information, each garage correction information comprising at least one of a lateral correction distance, a longitudinal correction distance, and a correction angle, M being greater than or equal to N.

[0161] The correcting module is configured to, for each of the M garage correction information, correct the plurality of original garage positioning points based on the garage correction information respectively to obtain the garage location information of the deduced garage corresponding to the garage correction information, so as to obtain the garage location information of the M deduced garages.

[0162] The determining module is specifically configured to determine N deduced garages existing in the loadable area from the M deduced garages based on the garage position information of the M deduced garages and the first area information, and determine the garage position information of each deduced garage.

[0163] In one embodiment, the garage reference information includes a garage cost, the garage cost being used to represent a degree of deviation of the deduced garage from the original garage in the first preset direction; the target information includes the original garage position information; and the information processing device further includes a weighted sum module.

[0164] The determining module is further configured to determine a deviation of the deduced garage from the original garage in the first preset direction based on the garage position information of the deduced garage and the original garage position information.

[0165] The weighted sum module is configured to perform weighted sum processing on the deviation according to a preset weight to obtain the garage cost of the deduced garage.

[0166] In one embodiment, the garage reference information further includes a garage category, the garage category being used to represent a priority of the vehicle in performing the loading task at the deduced garage; the target information includes the first area information and the second area information; and the information processing device can further include a judging module.

[0167] The judging module is configured to judge whether the deduced garage exists in the excavation working area based on the garage position information of the deduced garage and the second area information of the excavation working area to obtain a first judgment result.

[0168] The judging module is further configured to judge whether the garage exists in the loadable area based on the area position information of the detection area and the first area information of the loadable area to obtain a second judgment result, the detection area being an area obtained by deviating the deduced garage to a second preset direction by a preset distance, and the detection area including the idle area.

[0169] The determining module is specifically configured to determine the garage category of the deduced garage based on the first judgment result and the second judgment result.

[0170] In one embodiment, the garage reference information includes the garage cost and the garage category; and the determining module is further configured to:

[0171] For an i-th deduced garage in the N deduced garages, determine a garage cost difference between the i-th deduced garage and an (i+1)-th deduced garage and a priority level difference, the priority level difference representing a difference degree between a priority represented by the garage category of the i-th deduced garage and a priority represented by the garage category of the (i+1)-th deduced garage, i being greater than or equal to 1 and less than or equal to N;

[0172] In a case where the garage cost difference is less than the preset threshold, the garage with the highest priority represented by the garage category among the i th derived garage and the i+1 th derived garage is determined as the i th derived garage;

[0173] In a case where the garage cost difference is greater than or equal to the preset threshold, the garage with the lowest priority represented by the garage category among the i th derived garage and the i+1 th derived garage is determined as the i th derived garage;

[0174] The i+1+j th derived garage among the N derived garages is determined as the i+1 th derived garage, j=j+1, and the step of determining the garage cost difference and the priority difference between the i th derived garage and the i+1 th derived garage is returned to be executed until i+1+j=N, and the i th derived garage is determined as the target garage.

[0175] In an embodiment, the information processing apparatus described above can further include an adjusting module;

[0176] The obtaining module is further configured to obtain obstacle information, the obstacle information including obstacle positions and obstacle sizes of a plurality of obstacles, the plurality of obstacles including a first obstacle within a preset range of the target garage and / or a second obstacle blocking the path;

[0177] The adjusting module is configured to adjust the path for the vehicle to travel to the target garage according to the obstacle information, to obtain an adjusted path for the vehicle to travel to the target garage.

[0178] In the embodiments of the present application, the current position of the vehicle, the original garage position information of the original garage, the first area information of the loadable area, and the second area information of the excavation working area can be obtained, and in a case where at least part of the original garage does not exist in the loadable area, N derived garages existing in the loadable area and garage information of each derived garage are determined based on the original garage position information and the first area information, and then garage reference information of each derived garage among the N derived garages is determined based on the garage position information of the derived garage and the target information, so as to filter the optimal target garage from the N derived garages based on the garage reference information, and then a path for the vehicle to travel to the target garage is planned based on the current position of the vehicle and the garage position information of the target garage. In this way, the vehicle can be effectively and accurately guided to the loadable area for loading task in consideration of the complex and changeable environment of the mining area, and the efficiency of the vehicle reaching the loadable area is improved.

[0179] Each module in the information processing apparatus provided in the embodiments of the present application can implement the method steps of any one of the embodiments described in the Figures 1 to 4 embodiments and achieve the corresponding technical effects, and for brevity, will not be described here.

[0180] Figure 6 A hardware structure schematic diagram of an electronic device provided by an embodiment of the present application is shown.

[0181] The electronic device can include a processor 601 and a memory 602 storing computer program instructions.

[0182] Specifically, the processor 601 can include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement one or more embodiments of the present application.

[0183] The memory 602 can include a mass storage for data or instructions. By way of example and not limitation, the memory 602 can include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. The memory 602 can include removable or non-removable (or fixed) media, where appropriate. The memory 602 can be internal or external to the integrated gateway disaster recovery device, where appropriate. In certain embodiments, the memory 602 is non-volatile, solid-state memory.

[0184] The memory can include read-only memory (ROM), random-access memory (RAM), magnetic disk storage mediums, optical storage mediums, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software that, when executed (by one or more processors), is operable to access the data and / or instructions that enable the operations described with reference to the methods according to the present disclosure.

[0185] The processor 601 implements any of the information processing methods in the above embodiments by reading and executing the computer program instructions stored in the memory 602.

[0186] In one example, the electronic device can further include a communication interface 603 and a bus 610. As shown, the processor 601, the memory 602, and the communication interface 603 are connected by the bus 610 and complete communication among each other. Figure 6

[0187] The communication interface 603 is mainly used to realize the communication between the modules, devices, units and / or equipment in the embodiments of the present application.

[0188] ​Bus 610 includes hardware, software, or both, to couple components of the online data traffic metering device to each other and to couple components to other components within the online data traffic metering device. While bus 610 is shown for the sake of clarity as a single bus, bus 610 can include one or more buses operating together, serially, in parallel, etc. Bus 610 can include any suitable bus or interconnect, including a memory bus, a peripheral bus, an external bus, a serial bus, a parallel bus, etc. or a combination of one or more of the above. Bus 610 can include any suitable bus or interconnect, including an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand (IB) interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association local (VLB) bus, or another suitable bus or interconnect. In some embodiments, bus 610 can include one or more buses, although only one is shown. Although this application describes and illustrates a particular bus, this application contemplates any suitable bus or interconnect.

[0189] In addition, in combination with the information processing method in the above embodiments, the embodiments of the present application can provide a computer storage medium to implement. The computer storage medium has computer program instructions stored thereon; the computer program instructions are executed by a processor to implement the information processing method provided by the embodiments of the present application.

[0190] The embodiments of the present application also provide a computer program product, which includes a computer program, and the computer program is executed by a processor to implement the information processing method provided by the embodiments of the present application.

[0191] It needs to be clear that the present application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of brevity, detailed descriptions of well-known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after understanding the spirit of the present application.

[0192] The functional blocks shown in the structural block diagrams above can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, functional cards, and the like. When implemented in software, the elements of the present application are program or code segments that are used to perform the required tasks. The program or code segments can be stored in a machine-readable medium, or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. A "machine-readable medium" includes any medium that can store or transport information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memory, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, and the like. The code segments can be downloaded via computer networks such as the Internet, intranets, and the like.

[0193] It is also important to note that the examples mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the examples, or in an order different from the examples, or several steps can be performed simultaneously.

[0194] The above describes the aspects of the present application with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each block in the flowcharts and / or block diagrams, and the combination of blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable information processing device, to produce a machine, so that the instructions executed by the processor of the computer or other programmable information processing device enable the implementation of the functions / actions specified in one or more blocks of the flowcharts and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can also be implemented by special hardware that performs the specified functions or actions, or can be implemented by a combination of special hardware and computer instructions.

[0195] The above is only a specific embodiment of the present application, and those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems, modules and units can refer to the corresponding processes in the foregoing method embodiments, which will not be described here. It should be understood that the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. An information processing method characterized by comprising: The method comprises: acquiring a current position of a vehicle, original warehouse position information of an original warehouse, first area information of a loadable area, and second area information of a mining work area; in a case where it is determined that at least part of the original warehouse does not exist in the loadable area, determining N derived warehouses existing in the loadable area and warehouse position information of each of the derived warehouses based on the original warehouse position information and the first area information, N being a positive integer; for each of the N derived warehouses, determining warehouse reference information of the derived warehouse based on the warehouse position information of the derived warehouse and target information, the warehouse reference information comprising information for screening a target warehouse from the N derived warehouses, the target information comprising the original warehouse position information or the first area information and the second area information; based on the current position of the vehicle and the warehouse position information of the target warehouse, performing path planning to obtain a path for the vehicle to travel to the target warehouse.

2. The method according to claim 1, characterized in that The first area information of the loadable area comprises a plurality of contour positioning points; before the step of determining, in a case where it is determined that at least part of the original warehouse does not exist in the loadable area, N derived warehouses existing in the loadable area and warehouse position information of each of the derived warehouses based on the original warehouse position information and the first area information, the method further comprises: for each of the plurality of contour positioning points, determining whether the contour positioning point exists in the original warehouse based on the original warehouse position information to obtain a plurality of determination results; in a case where a target determination result indicates that the contour positioning point corresponding to the target determination result exists in the original warehouse, it is determined that at least part of the original warehouse does not exist in the loadable area, the target determination result being any one of the plurality of determination results.

3. The method of claim 1, wherein, The original warehouse position information comprises a plurality of original warehouse positioning points; The step of determining, based on the original warehouse position information and the first area information, N derived warehouses existing in the loadable area and warehouse position information of each of the derived warehouses comprises: acquiring M warehouse correction information, each of the warehouse correction information comprising at least one of a lateral correction distance, a longitudinal correction distance, and a correction angle, M being greater than or equal to N, M being a positive integer; for each of the M warehouse correction information, respectively correcting the plurality of original warehouse positioning points based on the warehouse correction information to obtain warehouse position information of a derived warehouse corresponding to the warehouse correction information, so as to obtain warehouse position information of M derived warehouses; based on the warehouse position information of the M derived warehouses and the first area information, determining N derived warehouses existing in the loadable area from the M derived warehouses and determining warehouse position information of each of the derived warehouses.

4. The method of claim 1, wherein, The garage reference information comprises a garage cost, and the garage cost is used to represent a degree of deviation of the derived garage from the original garage in a first preset direction; and the target information comprises original garage position information. The method further comprises: determining the garage reference information of the derived garage based on the garage position information of the derived garage and the target information. determining a deviation of the derived garage from the original garage in the first preset direction based on the garage position information of the derived garage and the original garage position information; 5. The method of claim 4, wherein, performing weighted summation processing on the deviation based on a preset weight to obtain the garage cost of the derived garage. The garage reference information further comprises a garage category, and the garage category is used to represent a priority of a loading task of a vehicle at the derived garage; and the target information comprises the first area information and the second area information. The method further comprises: judging whether the derived garage is in the excavation working area based on the garage position information of the derived garage and the second area information of the excavation working area to obtain a first judgment result; judging whether the detection area is in the loadable area based on the area position information of the detection area and the first area information of the loadable area to obtain a second judgment result, wherein the detection area is an area obtained by offsetting the derived garage in a second preset direction by a preset distance, and the detection area comprises an idle area; 6. The method of claim 5, wherein, determining the garage category of the derived garage based on the first judgment result and the second judgment result. The garage reference information comprises the garage cost and the garage category. Before performing path planning based on the current position of the vehicle and the garage position information of the target garage to obtain a path for the vehicle to travel to the target garage, the method further comprises: determining a garage cost difference and a priority difference between the i-th derived garage and the i+1-th derived garage; in a case where the garage cost difference is less than a preset threshold, determining that a derived garage with a highest priority represented by the garage category among the i-th derived garage and the i+1-th derived garage is the i-th derived garage, wherein the preset threshold is determined based on the priority difference; in a case where the garage cost difference is greater than or equal to the preset threshold, determining that a derived garage with a lowest priority represented by the garage category among the i-th derived garage and the i+1-th derived garage is the i-th derived garage; 7. The method of claim 1, wherein, determining that the i+1+j-th derived garage among the N derived garages is the i+1-th derived garage, j=j+1, and returning to perform the step of determining the garage cost difference and the priority difference between the i-th derived garage and the i+1-th derived garage until i+1+j=N, and determining that the i-th derived garage is the target garage. After performing path planning based on the current position of the vehicle and the garage position information of the target garage to obtain a path for the vehicle to travel to the target garage, the method further comprises: Obstacle information is acquired, the obstacle information including obstacle positions and obstacle sizes of a plurality of obstacles, the plurality of obstacles including a first obstacle within a preset range of the target garage and / or a second obstacle blocking the path; The path for the vehicle to travel to the target garage is adjusted according to the obstacle information, to obtain an adjusted path for the vehicle to travel to the target garage.

8. An information processing device, characterized in that The device comprises: An acquisition module is configured to acquire a current position of a vehicle, original garage position information of an original garage, first region information of a loadable region, and second region information of a mining work region; A determination module is configured to, in a case where it is determined that at least part of the original garage does not exist in the loadable region, determine, based on the original garage position information and the first region information, N deduced garages existing in the loadable region and garage position information of each of the deduced garages, N being a positive integer; The determination module is further configured to, for each of the N deduced garages, determine, based on the garage position information of the deduced garage and target information, garage reference information of the deduced garage, the garage reference information including information for screening a target garage from the N deduced garages, the target information including the original garage position information or the first region information and the second region information; A path planning module is configured to perform path planning based on the current position of the vehicle and the garage position information of the target garage, to obtain a path for the vehicle to travel to the target garage.

9. An electronic device, comprising: The device comprises a processor and a memory storing computer program instructions; The processor reads and executes the computer program instructions to implement the information processing method according to any one of claims 1-7.

10. A computer storage medium, characterized in that The computer storage medium stores computer program instructions, and the computer program instructions are executed by the processor to implement the information processing method according to any one of claims 1-7.

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