Virtual material pile map generation method and device, electronic equipment, medium and product

Abstract

The invention discloses a virtual material pile map generation method and device, electronic equipment, a medium and a product. The method comprises the following steps: according to a three-dimensional stock bin map of a stock bin, acquiring stock bin position information; the three-dimensional stock bin map comprises a three-dimensional stock bin model; according to the stock bin position information, material pile shape parameters are determined, and a three-dimensional material pile model to be integrated into the three-dimensional stock bin model is constructed according to the material pile shape parameters; generating a target stock bin map according to the three-dimensional stock bin map and the three-dimensional stock pile model; and based on the target stock bin map, determining a stock pile elevation map corresponding to the stock bin. According to the technical scheme provided by the embodiment of the invention, the effects of constructing the three-dimensional material pile model according to the stock bin position information extracted from the stock bin map and finally generating the material pile elevation map are realized, that is, the effect of generating the material pile elevation map without depending on field acquisition data is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer processing, and in particular to a virtual stockpile map generation method and device, electronic equipment, medium and product. BACKGROUND

[0002] In the scenario of the unmanned loader operating in the stockyard, in order to ensure the safety and efficiency of the loader debugging, it is often necessary to simulate and verify the entire task process of the unmanned loader implementing the loading and unloading task in the simulation environment. In order to simulate this process, the most important link is to build a stockpile map containing a stockpile model.

[0003] In related technologies, the stockpile map is usually built by using real stockyard data. The real stockyard data is scanned by using a sensor device, and the stockpile map is generated according to the data obtained by scanning.

[0004] However, this map construction method has obvious limitations: first, data collection cannot be carried out until the stockyard site is deployed, which increases the time cost or causes process blockage; second, in order to cover multiple working conditions, multiple shapes and depths of the material surface are needed, which increases the data collection cost, and the construction of a specific shape of the material surface also requires a large amount of manpower and material resources, resulting in a relatively large construction difficulty; third, the data collection depends on the real loader, involves multiple links such as sensor installation, position calibration, scanning and result post-processing, and the loader models used in each project are difficult to unify, resulting in poor generality of the collection scheme and high time cost. SUMMARY

[0005] The present application provides a virtual stockpile map generation method, device, electronic equipment, medium and product, which realizes the effect of constructing a three-dimensional stockpile model according to the stockyard position information extracted from the stockyard map, and finally generating a stockpile elevation map, that is, realizing the effect of generating a stockpile elevation map without relying on field data collection.

[0006] According to an aspect of the present application, a virtual stockpile map generation method is provided, which comprises:

[0007] According to the three-dimensional stockyard map, the stockyard position information is obtained; wherein the stockyard is used for stacking materials; and the three-dimensional stockyard map comprises a three-dimensional stockyard model;

[0008] According to the stockyard position information, the stockpile shape parameters are determined, and according to the stockpile shape parameters, a three-dimensional stockpile model to be integrated into the three-dimensional stockyard model is constructed;

[0009] According to the three-dimensional stockyard map and the three-dimensional stockpile model, a target stockyard map is generated;

[0010] Based on the target stockyard map, a stockpile elevation map corresponding to the stockyard is determined.

[0011] According to another aspect of the present application, there is provided a device for generating a virtual stockpile map, the device comprising:

[0012] a stockyard position information obtaining module configured to obtain stockyard position information according to a three-dimensional stockyard map of a stockyard, wherein the stockyard is used for stacking materials, and the three-dimensional stockyard map comprises a three-dimensional stockyard model;

[0013] a stockpile model constructing module configured to determine a stockpile shape parameter according to the stockyard position information, and construct a three-dimensional stockpile model to be integrated into the three-dimensional stockyard model according to the stockpile shape parameter;

[0014] a stockyard map generating module configured to generate a target stockyard map according to the three-dimensional stockyard map and the three-dimensional stockpile model;

[0015] a stockpile elevation map generating module configured to determine a stockpile elevation map corresponding to the stockyard based on the target stockyard map.

[0016] According to another aspect of the present application, there is provided an electronic device, the electronic device comprising:

[0017] at least one processor; and

[0018] a memory connected to the at least one processor in communication; wherein

[0019] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the method for generating a virtual stockpile map according to any one of the embodiments of the present application.

[0020] According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for enabling a processor to implement the method for generating a virtual stockpile map according to any one of the embodiments of the present application when executed by the processor.

[0021] According to another aspect of the present application, there is provided a computer program product comprising a computer program for implementing the method for generating a virtual stockpile map according to any one of the embodiments of the present application when executed by a processor.

[0022] The technical scheme of the embodiment of the present application comprises the following steps: obtaining the position information of the stockyard according to the three-dimensional stockyard map of the stockyard; the stockyard is used for stacking materials; the three-dimensional stockyard map comprises a three-dimensional stockyard model, and the physical space information of the real stockyard is converted into digital coordinate data, thereby providing accurate spatial reference for subsequent material pile modeling, placement and scene simulation, and supporting accurate mapping of the virtual scene and the real stockyard. Further, the shape parameters of the material pile are determined according to the position information of the stockyard, and a three-dimensional material pile model to be integrated into the three-dimensional stockyard model is constructed according to the shape parameters of the material pile, thereby realizing the effect that the three-dimensional material pile model can be constructed only according to the position information of the stockyard, ensuring that the three-dimensional material pile model constructed is accurately adapted in size and shape to the space of the stockyard, and providing a basic model conforming to physical logic for reasonable placement of the material pile in the stockyard and subsequent virtual scene integration. Further, the target stockyard map is generated according to the three-dimensional stockyard map and the three-dimensional material pile model, and the material pile elevation map corresponding to the stockyard is determined based on the target stockyard map, thereby realizing complete integration of the three-dimensional material pile model and the three-dimensional stockyard map, and accurately extracting the surface height distribution information of the material pile according to the target stockyard map. The technical scheme of the embodiment of the present application solves the problem in the related art that data collected in the field is usually used when generating the material pile elevation map, thereby resulting in high time cost, much work and difficulty, and the inability to simulate various working conditions, realizes the effect that the three-dimensional material pile model is constructed according to the position information of the stockyard extracted from the stockyard map, and the material pile elevation map is finally generated, that is, the effect that the material pile elevation map can be generated without relying on data collected in the field, greatly reduces the time cost and human input, and can flexibly simulate various stockyard working conditions, and efficiently outputs accurate material pile height distribution information.

[0023] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0025] Figure 1 is a flow chart of a virtual material pile map generation method provided by the first embodiment of the present application;

[0026] Figure 2 is a plane effect schematic diagram of a three-dimensional stockyard map provided by the present application;

[0027] Figure 3is a flow chart of a virtual stockpile map generation method according to the second embodiment of the present application;

[0028] Figure 4 is a structural schematic diagram of a virtual stockpile map generation device according to the fourth embodiment of the present application;

[0029] Figure 5 is a structural schematic diagram of an electronic device for implementing the virtual stockpile map generation method according to the embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the personnel in the technical field better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the protection scope of the present application.

[0031] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0032] Embodiment one

[0033] Figure 1 is a flow chart of a virtual stockpile map generation method according to the first embodiment of the present application. The present embodiment can be applicable to the case of generating a stockpile elevation map representing stockpile height distribution information. The method can be executed by a virtual stockpile map generation device, which can be realized in the form of hardware and / or software, and can be configured in a terminal and / or a server. As shown in the figure, the method comprises: Figure 1

[0034] S110, obtaining stock bin position information according to a three-dimensional stock bin map of the stock bin; wherein the stock bin is used for stacking materials; and the three-dimensional stock bin map comprises a three-dimensional stock bin model.

[0035] ​Generally, in an engineering work scenario, a loading device can be used to shovel, load and unload materials in a material yard. In a material shoveling work site, the loading device usually moves to the area where the materials are piled in the material yard to perform the material shoveling process. In this case, the material yard refers to a place for storing materials. The material yard includes one or more material bins. The material bin refers to a specific area for piling materials.

[0036] It should be noted that in the case where the material yard includes multiple material bins, the technical solution provided by the embodiment of the present application can be used to generate a material pile elevation map corresponding to each material bin. In order to facilitate the description of the specific implementation process of the technical solution, the technical solution provided by the embodiment of the present application is described by taking one material bin as an example.

[0037] The three-dimensional material bin map can be a digital three-dimensional virtual environment of the material bin, including complete three-dimensional spatial information of the material bin. The three-dimensional material bin map can include at least one of a plurality of information associated with the three-dimensional model of the material bin, and optionally, at least one of boundary information of the material bin (such as three-dimensional coordinates of four corner points of the ground of the material bin, height and thickness of the wall), internal space range (length, width, height), key area (such as opening position of the material bin, ground reference surface) and the like. The three-dimensional material bin map can be any form of three-dimensional map. Optionally, the map form of the three-dimensional material bin map can include a semantic map and / or a geometric map containing only material bin position information. It can be understood that the semantic map is a map containing semantic information such as the category, attribute, position and mutual relationship of objects in the environment. In the case where the three-dimensional material bin map is a semantic map, the three-dimensional material bin map will explicitly mark the area where the material bin is located, the area where the main road is located, and the ground position and the like. In the case where the three-dimensional material bin map is a geometric map, the boundary of the material bin can be directly defined by the material bin position information, and the material pile position can also be limited by the material bin position information to avoid exceeding the boundary. Compared with the geometric map containing only the material bin position, the semantic map has a higher understanding of the environment, which can enable the loading device to quickly identify the key area and object, ensure that the virtual modeling and work process can be consistent with the logic of the actual scene, improve the efficiency of virtual simulation and actual work, and significantly reduce the process cost. Therefore, in the present embodiment, preferably, the map form of the three-dimensional material bin map can be a semantic map.

[0038] The three-dimensional material bin map includes a three-dimensional material bin model. The three-dimensional material bin model can be a digital three-dimensional reproduction of the physical structure of the real material bin, and is a core component of the three-dimensional material bin map. The three-dimensional material bin model can be understood as accurately simulating the spatial form, structural boundary and physical characteristics of the material bin by using virtual geometric data and attribute information. Simply put, the three-dimensional material bin model can be a three-dimensional model constructed based on the material bin. The three-dimensional material bin model can include at least one of the basic framework of the material bin (including the ground, the wall and the opening), the spatial parameters and the physical attributes.

[0039] The silo position information can be key data describing the spatial position and range of the silo extracted from the three-dimensional silo map. Optionally, the silo position information includes the position information of the silo ground in the global coordinate system (such as the position coordinates of the four corner points of the silo ground, which are respectively 、 、 、 ), the three-dimensional dimensions of the silo (including the length h of the silo, the width w of the silo, and the height H of the wall), and the range of the available internal space (such as the x-direction , y-direction , and z-direction ). In this embodiment, the silo position information can be used to limit the maximum size of the stockpile (such as the length of the stockpile cannot exceed the length of the silo) and the placeable area (to ensure that the stockpile is within the range of [x0, x3], etc.). Optionally, the silo position information can include the position coordinates of the four corner points of the silo ground, which are respectively the first coordinate information of the first corner point, the second coordinate information of the second corner point, the third coordinate information of the third corner point, and the fourth coordinate information of the fourth corner point, and the first corner point, the second corner point, the third corner point, and the fourth corner point are in a clockwise order, and the second corner point and the third corner point correspond to the opening of the silo facing the main road.

[0040] In this embodiment, the three-dimensional silo map can be obtained in at least one of the following ways: from a pre-constructed map asset library according to the silo identifier; determining the silo yard identifier of the silo yard to which the silo belongs, and calling the three-dimensional silo yard map from the map asset library according to the silo yard identifier, and segmenting the three-dimensional silo yard map to obtain the three-dimensional silo map.

[0041] In one embodiment, after determining the silo to be simulated and verified, the silo identifier of the silo can be obtained. Further, the three-dimensional silo map of the silo can be called from the pre-constructed map asset library according to the silo identifier. Further, information describing the spatial position of the silo can be read from the three-dimensional silo map to obtain the silo position information.

[0042] Exemplarily, Figure 2 is a schematic diagram of a plane effect of a three-dimensional silo yard map provided by an embodiment of the present application. As shown in Figure 2 , the three-dimensional silo yard map includes a three-dimensional silo map of silo A. According to the three-dimensional silo map of silo A, the silo position information of silo A can be obtained as the coordinates of the four corner points of the silo ground in a clockwise order 、 、 、 . Among them, 、 are the positions of the openings of the silo facing the main road.

[0043] S120, determining a stockpile shape parameter according to the stockpile position information, and constructing a three-dimensional stockpile model to be integrated into the three-dimensional stockpile model according to the stockpile shape parameter.

[0044] The stockpile shape parameter can be a key parameter defining the geometry of the three-dimensional stockpile model. The stockpile shape parameter can define the size and shape of the stockpile by parameterization, and is the basis for constructing the three-dimensional stockpile model. The stockpile shape parameter needs to be determined according to the stockpile position information to ensure that the stockpile can be placed in the stockpile. The three-dimensional stockpile model can refer to a three-dimensional entity model constructed according to the stockpile shape parameter, to be integrated into the three-dimensional stockpile model, which is a virtual mapping of the material accumulation form. The three-dimensional stockpile model can include the complete three-dimensional geometric structure of the stockpile, which is used to simulate the three-dimensional form of the real stockpile.

[0045] It should be noted that the stockpile shape parameter determined according to the stockpile position information is usually determined by taking the stockpile position information as a constraint condition. Further, the determined stockpile shape parameter can be used to construct the maximum three-dimensional stockpile model that the three-dimensional stockpile model can accommodate, i.e., the stockpile shape parameter can be the upper limit of the shape parameter for constructing the three-dimensional stockpile model. Optionally, the stockpile shape parameter can include at least one of a stockpile length upper limit, a stockpile width upper limit, a stockpile height upper limit, a stockpile slope angle, and a stockpile capacity proportion.

[0046] The stockpile length upper limit can refer to the maximum size of the stockpile in the length direction of the stockpile. The stockpile length upper limit can be used to control the extension range of the stockpile in the length direction, to ensure that the stockpile can be completely placed in the stockpile, while reserving space for mechanical equipment operation. The stockpile length upper limit can be less than or equal to the length of the stockpile. Preferably, the stockpile length upper limit can be determined as the product between the length of the stockpile and a first preset proportion, so that the stockpile length upper limit is less than the length of the stockpile. Optionally, the first preset proportion can include 90%, 80%, or 70%, etc.

[0047] The stockpile width upper limit can refer to the maximum size of the stockpile in the width direction of the stockpile, which is the boundary value of the stockpile width and is constrained by the width of the stockpile. The stockpile width upper limit can be used to limit the distribution of the stockpile in the width direction, to avoid the left and right boundaries of the stockpile exceeding the walls of the stockpile. The stockpile width upper limit can be less than or equal to the width of the stockpile. Preferably, the stockpile width upper limit can be determined as the product between the width of the stockpile and a second preset proportion, so that the stockpile width upper limit is less than the width of the stockpile. Optionally, the second preset proportion can include 90%, 80%, or 70%, etc.

[0048] The upper limit of the stockpile height can refer to the maximum height of the stockpile in the vertical ground direction, which is a limit value of the stockpile height and needs to meet the physical boundary of the silo and the material stacking characteristics. Generally, the upper limit of the stockpile height can be less than or equal to the height of the silo wall and less than or equal to the maximum height of the natural stacking of the stockpile. The upper limit of the stockpile height can be used to ensure that the stockpile height does not exceed the silo and meets the stable stacking rules of the real material.

[0049] The slope angle of the stockpile can refer to the angle between the slope of the stockpile (such as the slope of the wedge-shaped stockpile) and the horizontal plane, which is a key parameter for describing the inclination of the stockpile. The slope angle of the stockpile can be related to the natural stacking characteristics of the material, that is, related to the material rest angle (the maximum angle between the slope and the horizontal plane when the material is naturally stacked, such as the sandstone rest angle of 30° to 40°). The slope angle of the stockpile can be less than or equal to the material rest angle to avoid the stockpile collapsing due to gravity and not meeting the physical laws. The slope angle of the stockpile can be used to determine the three-dimensional shape of the stockpile (for example, the smaller the slope angle of the stockpile, the flatter the slope, the larger the range of the stockpile bottom; the larger the slope angle of the stockpile, the steeper the slope, and the higher the stockpile).

[0050] The stockpile capacity ratio can refer to the ratio of the actual volume of the stockpile to the maximum volume that can be accommodated in the silo, usually expressed in percentage. The stockpile capacity ratio can be used to describe the filling degree of the stockpile. The stockpile capacity ratio can be determined by the ratio between the volume of the stockpile and the volume of the silo. The stockpile capacity ratio can be used to simulate different full silo states (such as 20% empty and 80% close to full silo), and adapt to the operation test of mechanical equipment under different material quantities (such as planning an efficient material shoveling path when the silo is full and avoiding collision when the silo is empty).

[0051] In this embodiment, according to the silo position information, the shape parameters of the stockpile are determined, including at least one of the following: directly determining the shape parameters of the stockpile according to the silo position information; determining the silo size parameters according to the silo position information, and determining the shape parameters of the stockpile according to the silo size parameters. The second determination method is described in detail below.

[0052] Optionally, according to the silo position information, the shape parameters of the stockpile are determined, including: determining the silo size parameters according to the silo position information; determining the shape parameters of the stockpile according to the silo size parameters. The advantages of this setting are: it realizes the conversion of the spatial information (position) of the silo into specific size constraints, and then makes the determined shape parameters of the stockpile accurately adapt to the silo space, ensuring that the subsequent three-dimensional stockpile model can be reasonably placed in the silo, avoiding exceeding the boundary or wasting space.

[0053] The bunker size parameter can refer to a quantitative index describing the physical size of the bunker determined based on the bunker position information. The bunker size parameter can be used to directly constrain the stockpile shape parameter. Optionally, the bunker size parameter can include at least a bunker width, a bunker length, and a bunker height. The bunker length can refer to the maximum distance of the bunker in the length direction (usually the x-axis), which is obtained by calculating the boundary coordinates of the bunker ground along the x-axis. The bunker width can refer to the maximum distance of the bunker in the width direction (usually the y-axis), which is obtained by calculating the boundary coordinates of the bunker ground along the y-axis. The bunker height can refer to the vertical height of the bunker wall (z-axis direction), i.e., the distance from the ground (z=0) to the top of the wall, which is the maximum space limit of the bunker in the vertical direction.

[0054] It should be noted that the bunker length is obtained by calculating the boundary coordinates of the bunker ground along the x-axis, and can include at least one of the following calculation methods: taking the difference between the maximum abscissa of the bunker and the minimum abscissa of the bunker as the bunker length; determining the average of the lengths of the two opposite sides in the length direction (i.e., the left and right boundaries of the bunker), and adding the two averages to obtain the bunker length.

[0055] Optionally, the bunker position information includes first coordinate information of a first corner point, second coordinate information of a second corner point, third coordinate information of a third corner point, and fourth coordinate information of a fourth corner point, and the first corner point, the second corner point, the third corner point, and the fourth corner point are in a clockwise order, and the second corner point and the third corner point correspond to the opening of the bunker facing the main road. In this case, the two determination methods of the bunker length are as follows:

[0056] One of the determination methods of the bunker length is to determine the difference between the abscissa of the third coordinate information and the abscissa of the second coordinate information to obtain the bunker length.

[0057] The other determination method of the bunker length is to determine the difference between the abscissa of the third coordinate information and the abscissa of the second coordinate information to obtain a first value; determine the average of the first value to obtain a second value; determine the difference between the abscissa of the fourth coordinate information and the abscissa of the first coordinate information to obtain a third value; determine the average of the third value to obtain a fourth value; and add the second value and the second value to obtain the bunker length.

[0058] Similarly, the bunker width is obtained by calculating the boundary coordinates of the bunker ground along the y-axis, and can include at least one of the following calculation methods: taking the difference between the maximum ordinate of the bunker and the minimum ordinate of the bunker as the bunker length; determining the average of the lengths of the two opposite sides in the width direction (i.e., the upper and lower boundaries of the bunker), and adding the two averages to obtain the bunker width.

[0059] Optionally, in the case where the information included in the bunker position information is the information described above, the two determination methods of the bunker width are as follows:

[0060] One way to determine the bunker width is to determine the difference between the longitudinal coordinate of the third coordinate information and the longitudinal coordinate of the second coordinate information to obtain the bunker width.

[0061] Another way to determine the bunker width is to determine the difference between the longitudinal coordinate of the third coordinate information and the longitudinal coordinate of the fourth coordinate information to obtain a fifth value; determine the average value of the fifth value to obtain a sixth value; determine the difference between the longitudinal coordinate of the second coordinate information and the longitudinal coordinate of the first coordinate information to obtain a seventh value; determine the average value of the seventh value to obtain an eighth value; and add the sixth value and the eighth value to obtain the bunker width.

[0062] For example, continuing to refer to Figure 2 As shown in Figure 2 , the first coordinate information is , the second coordinate information is , the third coordinate information is , and the fourth coordinate information is .

[0063] The bunker length may be determined based on the following formula:

[0064]

[0065] The bunker width may be determined based on the following formula:

[0066]

[0067] In this embodiment, after obtaining the bunker size parameters, the bunker size parameters can be used as constraint conditions, and the pile shape parameters for generating the three-dimensional pile model can be determined according to the preset pile model construction requirements. Further, the pile shape parameters can be processed by the model generation unit to obtain the three-dimensional pile model. The model generation unit can include at least one of an intelligent agent, a question and answer language model, and software integrated with a model generation algorithm.

[0068] In practical applications, in the scenario of the unmanned loader operating in the yard, in order to ensure the safety and efficiency of the debugging of the unmanned loader, it is often necessary to simulate and verify the entire task process of the unmanned loader receiving and implementing the loading and unloading task in a simulation environment. In order to simulate this process, an essential element is the construction of a three-dimensional stockpile model. The construction of the three-dimensional stockpile model is usually performed by on-site scanning and data collection of the real material warehouse where the material is stacked, and a three-dimensional stockpile model is constructed according to the collected material data. However, in the process of on-site data collection, there may be a situation of high time cost. In order to make the test process cover as many working conditions as possible, different shapes and depths of the stockpile shape are required, and then different shapes of the stockpile need to be constructed in the real warehouse site. In this case, on the one hand, the cost of collecting data is under pressure, and on the other hand, the construction conditions of the real stockpile of a specific shape are difficult, and the cost of manpower and material resources is huge. Further, it may not be possible to construct stockpiles of different shapes in the real site, resulting in the simulation test failing to cover a variety of different working conditions, affecting the simulation test effect.

[0069] In view of the above situation, in the embodiment, the stockpile position information of the stockpile is obtained from the three-dimensional stockpile map. Further, the stockpile position information can be directly used as a constraint condition to determine the stockpile shape parameters according to the preset stockpile model construction requirements. Further, the three-dimensional stockpile model can be directly constructed according to the stockpile shape parameters. Thus, the effect of constructing a three-dimensional stockpile model meeting the stockpile model construction requirements by parameterized modeling only relying on the stockpile position information can be achieved.

[0070] S130, generating a target stockpile map according to the three-dimensional stockpile map and the three-dimensional stockpile model.

[0071] The target stockpile map can be a complete three-dimensional scene map formed by embedding the three-dimensional stockpile model into the three-dimensional stockpile map, containing all three-dimensional information of the stockpile and the stockpile. The target stockpile map can integrate the three-dimensional stockpile model and the three-dimensional stockpile model, which are aligned in the same coordinate system, and the three-dimensional stockpile model is completely located within the spatial range of the three-dimensional stockpile model.

[0072] In the embodiment, the target stockpile map is generated on the basis of the three-dimensional stockpile map into which the three-dimensional stockpile model is integrated. The way of integrating the three-dimensional stockpile model into the three-dimensional stockpile model can include at least one of the following: in response to a model placement operation for the three-dimensional stockpile model, integrating the three-dimensional stockpile model into the three-dimensional stockpile model according to the model placement operation; integrating the three-dimensional stockpile model into the three-dimensional stockpile model according to the preset stockpile posture information.

[0073] Optionally, the target stockyard map is generated according to the three-dimensional stockyard map and the three-dimensional stockpile model, including: in response to a model placement operation for the three-dimensional stockpile model, integrating the three-dimensional stockpile model into the three-dimensional stockyard model according to the model placement operation to obtain a to-be-processed stockyard map, and determining the target stockyard map according to the to-be-processed stockyard map. The advantage of this arrangement is that it enables flexible adjustment of the placement of the three-dimensional stockpile model in the three-dimensional stockyard model according to operations, and ensures accurate adaptation of the stockpile to the stockyard space through confirmation of the to-be-processed stockyard map to the target stockyard map, thereby providing a reliable and complete virtual scene basis for subsequent generation of a stockpile elevation map and the like.

[0074] The model placement operation can be an interactive operation input by a user for the three-dimensional stockpile model, which can be used to integrate the three-dimensional stockpile model into the target position of the three-dimensional stockyard model and / or adjust the placed three-dimensional stockpile model to a target pose. Optionally, the model placement operation includes a model trigger operation (such as a model translation operation and / or a model rotation operation) received through the map editing interface and / or a parameter input operation for the pose parameters. The to-be-processed stockyard map can be a three-dimensional stockyard map in which the three-dimensional stockpile model is placed.

[0075] In this embodiment, determining the target stockyard map according to the to-be-processed stockyard map includes at least one of the following: directly taking the to-be-processed stockyard map as the target stockyard map; adding semantic information and / or physical attribute information to the to-be-processed stockyard map to obtain the target stockyard map.

[0076] In one embodiment, the three-dimensional stockpile model and the three-dimensional stockyard map are displayed in the map editing interface. Further, a model translation operation can be input for the three-dimensional stockpile model, and the three-dimensional stockpile model is integrated into the three-dimensional stockyard model at the target position according to the model translation operation. Further, a model rotation operation can be input for the placed three-dimensional stockpile model, and the three-dimensional stockpile model is adjusted to a target pose according to the model rotation operation to obtain a to-be-processed stockyard map in which the three-dimensional stockpile model is placed. Further, semantic fusion can be performed on the three-dimensional stockpile model and the three-dimensional stockyard model placed in the to-be-processed stockyard map to add semantic information to the three-dimensional stockpile model and the three-dimensional stockyard model. Further, the to-be-processed stockyard map with added semantic information can be taken as the target stockyard map.

[0077] Optionally, according to the three-dimensional stockyard map and the three-dimensional stockpile model, a target stockyard map is generated, including: obtaining pre-determined stockpile pose information; integrating the three-dimensional stockpile model into the three-dimensional stockyard model according to the stockpile pose information, and determining the target stockyard map according to the three-dimensional stockyard map containing the three-dimensional stockpile model. The advantage of this setting is that the pre-set stockpile pose information is used to accurately place the three-dimensional stockpile model in the three-dimensional stockyard model, and efficiently generate the target stockyard map integrating the two, thereby providing a precise and standardized virtual scene benchmark for subsequent stockpile elevation map generation and other processes.

[0078] In this embodiment, the stockpile pose information can be comprehensive data for accurately defining the position and attitude of the three-dimensional stockpile model in the three-dimensional stockyard model. Optionally, the stockpile pose information includes stockpile position information and stockpile attitude information.

[0079] In this embodiment, the stockpile position information can be used to determine the target position of the three-dimensional stockpile model integrated into the three-dimensional stockyard model. The stockpile position information can be the three-dimensional coordinates of the geometric center of the stockpile, i.e., the three-dimensional coordinates representing the geometric center of the three-dimensional stockpile model in the three-dimensional stockyard model.

[0080] In this embodiment, the stockpile attitude information can be the rotation angle parameter of the stockpile, which can be used to define the inclination direction and orientation of the three-dimensional stockpile model. The stockpile attitude information can be determined according to the stockpile simulation requirements. Optionally, the stockpile attitude information includes roll, pitch, and yaw. In this embodiment, the roll can be used to control the left-right inclination of the stockpile. For example, if a left-low right-high form of the stockpile caused by force on one side (such as a loader loading material from the left side for a long time) needs to be simulated, the left-right inclination angle can be set by adjusting the roll; if a left-right flat stockpile needs to be built, the roll can be set to 0. The pitch can be used to control the front-back inclination of the stockpile. For example, if a wedge-shaped stockpile (such as a stockpile naturally accumulated in the stockyard with a low front end and a high back end) needs to be built, the front-back inclination slope can be set by adjusting the pitch; if a horizontal material surface after leveling needs to be simulated, the pitch can be set to 0. The yaw can be used to control the overall rotation direction of the stockpile. For example, if the opening of the stockyard faces the right side of the main road, the inclined surface of the stockpile needs to be aligned with the opening (for the convenience of the loader loading material), the overall rotation angle of the stockpile can be adjusted by the yaw to ensure that the inclined surface is aligned with the opening direction; if the stockpile does not need to be rotated, the yaw can be set to 0.

[0081] In this embodiment, the determination method of the stockpile position information can include at least one of the following: determined according to the stockyard position information; determined according to the historical operation records of the stockyard (such as the historical placement position of the material); input by editing the stockpile position information.

[0082] Optionally, the determination manner of the stockpile pose information comprises: determining a stockpile reference position according to the stockpile position information; determining the stockpile position information according to the stockpile reference position, and taking the stockpile position information and the preset stockpile attitude information as the stockpile pose information. The advantage of this setting is that the center determined according to the stockpile position information is taken as the reference, which can make the stockpile position accurately adapt to the stockpile space, and then the stockpile pose information is formed by combining the preset attitude, which not only ensures the rationality of the stockpile placement, but also simplifies the pose determination process, thereby providing a standard and efficient basis for the subsequent accurate placement of the stockpile model in the stockpile.

[0083] The stockpile reference position can be understood as a reference placement reference point of the stockpile position. Optionally, the stockpile reference position can include at least one of the stockpile center position information, the stockpile corner reference point, and the self-defined reference point. The stockpile center position information can refer to the three-dimensional coordinates of the geometric center of the stockpile determined based on the stockpile position information, which is the reference point of the stockpile position. The stockpile center position information can be the ground center information of the stockpile. The stockpile center position information can be represented in various ways, and optionally, the coordinates of the stockpile ground position are used, such as the stockpile center position information including the ground center horizontal coordinate, the ground center vertical coordinate, and the ground center vertical coordinate. It should be noted that since the vertical coordinates of the ground are all 0, the ground center vertical coordinate of the stockpile center position information is 0.

[0084] In this embodiment, the determination manner of the stockpile center position information can be associated according to the position information included in the stockpile position information.

[0085] Optionally, the stockpile position information includes first coordinate information of a first corner point, second coordinate information of a second corner point, third coordinate information of a third corner point, and fourth coordinate information of a fourth corner point; the stockpile center position information is determined according to the stockpile position information, which comprises: adding the horizontal coordinate of the first coordinate information, the horizontal coordinate of the second coordinate information, the horizontal coordinate of the third coordinate information, and the horizontal coordinate of the fourth coordinate information to obtain a first to-be-processed coordinate; determining the product between the first to-be-processed coordinate and a preset coefficient to obtain a center horizontal coordinate; adding the vertical coordinate of the first coordinate information, the vertical coordinate of the second coordinate information, the vertical coordinate of the third coordinate information, and the vertical coordinate of the fourth coordinate information to obtain a second to-be-processed coordinate; determining the product between the second to-be-processed coordinate and a first preset coefficient to obtain a center vertical coordinate; and taking the center horizontal coordinate and the center vertical coordinate as the stockpile position information.

[0086] In this embodiment, the stockpile position information is determined according to the stockpile reference position, which can include: the stockpile position information is determined according to the stockpile center position information. Further, the stockpile position information is determined according to the stockpile center position information, which includes at least one of the following: the stockpile center position information is taken as the stockpile position information; the stockpile center position information is added with a preset position offset value to obtain the stockpile position information.

[0087] In one embodiment, in the case that the obtained silo position information comprises first coordinate information of the first corner point, second coordinate information of the second corner point, third coordinate information of the third corner point and fourth coordinate information of the fourth corner point, the horizontal coordinate of the first coordinate information, the horizontal coordinate of the second coordinate information, the horizontal coordinate of the third coordinate information and the horizontal coordinate of the fourth coordinate information can be added, and the added coordinate can be taken as a first to-be-processed coordinate. Further, the product between the first to-be-processed coordinate and a preset coefficient can be determined, and the obtained product can be taken as a center horizontal coordinate. Further, the vertical coordinate of the first coordinate information, the vertical coordinate of the second coordinate information, the vertical coordinate of the third coordinate information and the vertical coordinate of the fourth coordinate information can be added, and the added coordinate can be taken as a second to-be-processed coordinate. Further, the product between the second to-be-processed coordinate and a preset coefficient can be determined, and the obtained product can be taken as a center vertical coordinate. Further, the center horizontal coordinate and the center vertical coordinate can be taken as the silo position information. Further, the silo center position information can be taken as the stockpile position information, and the stockpile attitude information can be determined according to the silo simulation requirement. Further, the stockpile position information and the stockpile attitude information can be taken as the stockpile pose information.

[0088] For example, the first coordinate information is , the second coordinate information is , the third coordinate information is , and the fourth coordinate information is . The silo center position information may be determined based on the following formula:

[0089]

[0090]

[0091] In this embodiment, after obtaining the stockpile pose information, the three-dimensional stockpile model can be integrated into the three-dimensional silo model of the three-dimensional silo map according to the stockpile pose information. Further, the three-dimensional stockpile model and the three-dimensional silo model placed in the three-dimensional silo map where the three-dimensional stockpile model is placed can be semantically fused, and semantic information can be added to the three-dimensional stockpile model and the three-dimensional silo model. Further, the to-be-processed silo map with added semantic information can be taken as a target silo map.

[0092] Optionally, the three-dimensional stockpile model is integrated into the three-dimensional stockyard model of the three-dimensional stockyard map according to the stockpile position information, including: placing the three-dimensional stockpile model in the three-dimensional stockyard model of the three-dimensional stockyard map according to the stockpile position information, and adjusting the model posture of the three-dimensional stockpile model according to the stockpile posture information, to integrate the three-dimensional stockpile model into the three-dimensional stockyard model. The advantage of this setting is that the placement position of the three-dimensional stockpile model in the three-dimensional stockyard model is accurately determined through the position information, and the orientation and inclination state of the model are adjusted in combination with the posture information, realizing accurate and reasonable placement of the stockpile model in the stockyard, ensuring the spatial adaptability of the two, and laying a foundation for generating an accurate target stockyard map.

[0093] It should be noted that in order to be able to simulate test various working conditions, the shape of the three-dimensional stockpile model can be changed. In order to facilitate the construction of three-dimensional stockpile models of various shapes, in the case where a three-dimensional stockpile model has been generated, the existing three-dimensional stockpile model can be directly reused to achieve this. That is, by adjusting the stockpile size parameters of the three-dimensional stockpile model, three-dimensional stockpile models of different shapes can be constructed, and the three-dimensional stockpile model in the target stockyard map can be updated, to provide a model simulation basis for subsequent generation of stockpile elevation maps of different stockpile shapes.

[0094] Optionally, after generating the target stockyard map according to the three-dimensional stockyard map and the three-dimensional stockpile model, it further includes: adjusting the stockpile shape parameters of the three-dimensional stockpile model, and updating the target stockyard map according to the adjusted three-dimensional stockpile model. The advantage of this setting is that it can flexibly adapt to changes in stockpile shape (such as material consumption, addition), and by updating the target stockyard map, it ensures that the virtual scene always reflects the latest stockpile state, providing an accurate scene basis for subsequent stockpile elevation map updates, simulation operations, etc.

[0095] In this embodiment, the adjustment method of the stockpile shape parameters can include at least one of the following: in response to a size adjustment trigger operation for the three-dimensional stockpile model; through editing operation input of the stockpile shape parameters.

[0096] In one embodiment, after the target stockyard map is generated according to the three-dimensional stockyard map and the three-dimensional stockpile model, in the case of receiving a model triggering operation for any three-dimensional stockpile model in the target stockyard map, a model editing page corresponding to the triggered three-dimensional stockpile model can be displayed, and a stockpile shape parameter editing item is displayed in the model editing page. At this time, the parameters displayed in the stockpile shape parameter editing item are the stockpile shape parameters of the triggered three-dimensional stockpile model. Further, the parameter input operation for the stockpile shape parameter editing item can be received through the model editing page, the adjusted stockpile shape parameters are determined according to the parameter input operation, and the adjusted stockpile shape parameters are displayed in the stockpile shape parameter editing item. Further, in the case of receiving an editing completion instruction, the three-dimensional stockpile model can be updated according to the stockpile shape parameters displayed in the model editing page, the adjusted three-dimensional stockpile model is obtained, and the target stockyard map is updated according to the adjusted three-dimensional stockpile model, so that the updated target stockyard map displays the adjusted three-dimensional stockpile model.

[0097] S140, determining a stockpile elevation map corresponding to the stockyard based on the target stockyard map.

[0098] The stockpile elevation map can be a rasterized representation of the stockpile surface height on a two-dimensional plane, and is a visualization or dataization result of the stockpile surface height data extracted from the target stockyard map. The stockpile elevation map can be a two-dimensional grid composed of a plurality of grids, and the plurality of grids are used to represent the ground area of the stockyard, and each grid corresponds to a specific position in the stockyard; the value (or color) of the grid identifies the height of the stockpile surface at the position, for example, if there is a stockpile at the position, the value is the vertical coordinate of the stockpile surface (i.e. the stockpile height); if there is no stockpile at the position, the value is 0 (i.e. the ground height). The form of the stockpile elevation map can include at least one of the following: a digital matrix storing the value of each grid; a color heat map (the deeper the color, the higher the height, which intuitively shows the ups and downs of the stockpile). It can be understood that the stockpile elevation map can be used to intuitively reflect the height distribution of the stockpile surface, and is a key reference for the operation of the mechanical equipment.

[0099] Generally, in the scenario of unmanned loader operation in the stockyard, material surface recognition is a key step. Material surface recognition refers to recognizing the material pile area and the ground area in the material loading operation site, so as to separate the material pile to be loaded from the ground. In order to improve the efficiency and accuracy of material surface recognition in the operation process, the stockpile elevation map can be used for material surface recognition to determine the best loading point. Therefore, in the process of simulating and testing the stockyard operation process, the stockpile elevation map needs to be finally generated. Further, the stockpile elevation map can be played back in the simulation environment to realize the business closed loop in the simulation test process.

[0100] In actual applications, a real stockpile is usually scanned in the field to obtain the stock surface data of the real stockpile. Further, the stockpile elevation map can be generated according to the scanned stock surface data. In this way, there may be a case that the time cost is high and different shapes of stockpiles cannot be constructed in the real field, which leads to the simulation test failing to cover multiple different working conditions and affects the simulation test effect.

[0101] In view of the above, in the embodiment, the target stockyard map including the three-dimensional stockpile model and the three-dimensional stockyard model can be simulated to simulate the process of scanning the stock surface data by the mechanical equipment configured with the scanning device. Further, the stockpile elevation map corresponding to the stockyard can be generated according to the scanned data.

[0102] In the embodiment, after obtaining the target stockyard map, the simulation mechanical equipment configured with the simulation scanning module can be controlled to scan the stock surface data according to the target stockyard map to obtain the stock surface scanning data. Further, the stockpile elevation map can be generated according to the stock surface scanning data.

[0103] In the embodiment, controlling the simulation mechanical equipment configured with the simulation scanning module to scan the stock surface data according to the target stockyard map can include at least one of the following: in response to a movement instruction input operation for the simulation mechanical equipment, determining a movement path according to the movement instruction input operation to control the simulation mechanical equipment to scan the stock surface data according to the determined movement path; adding a scanning track in the target stockyard map to control the simulation mechanical equipment to move and scan the stock surface data according to the added scanning track.

[0104] Optionally, based on the target stockyard map, the stockpile elevation map corresponding to the stockyard is determined, including: adding the simulation mechanical equipment to the scanning starting position of the target stockyard map, the simulation mechanical equipment being configured with the simulation scanning module; in response to a movement instruction input operation for the simulation mechanical equipment, controlling the simulation mechanical equipment to scan the stock surface data in the target stockyard map according to the movement instruction input operation to obtain the stock surface scanning data; and generating the stockpile elevation map according to the stock surface scanning data.

[0105] The response to the movement instruction input operation for the simulation mechanical equipment can include at least one of the following: in response to a trigger drag operation input for the simulation mechanical equipment; receiving a movement instruction input through an input device such as a mouse and / or a keyboard; and receiving an instruction input operation for a movement instruction editing item.

[0106] Optionally, based on the target stockyard map, a stockpile elevation map corresponding to the stockyard is determined, including: adding at least one scanning track in the target stockyard map; controlling the simulation mechanical equipment to perform stock surface data scanning in the target stockyard map along the at least one scanning track to generate the stockpile elevation map corresponding to the stockyard; wherein the simulation mechanical equipment is configured with a simulation scanning module.

[0107] In the embodiment, after obtaining the stockpile elevation map, in order to determine whether the stockpile elevation map generated according to the stockyard position information is accurate and feasible, the method for generating the virtual stockpile map further includes: verifying the stockpile elevation map to determine a verification result corresponding to the stockpile elevation map; wherein the verification result includes a simulation verification result and an actual scene verification result.

[0108] The verification of the stockpile elevation map can include simulation verification and actual scene verification. The simulation verification can refer to a method for verifying in a virtual environment whether the stockpile elevation map has a stock surface shape, and whether the position and posture of the stock surface are consistent with the stock shape parameters. The simulation verification result can refer to a conclusion obtained through simulation verification, recording the stock surface conditions included in the stockpile elevation map. The actual scene verification can refer to a method for executing a shoveling process according to the stockpile elevation map in a real stockyard environment, to verify whether the stock surface can be accurately identified and shoveling and unloading actions can be performed. The actual scene verification result can refer to a conclusion obtained through actual scene verification, used to record the test results obtained by executing the shoveling business test according to the stockpile elevation map.

[0109] In one embodiment, after obtaining the stockpile elevation map, the stockpile elevation map can be simulated and verified to determine whether the stockpile elevation map has a stock surface shape, and whether the position and posture of the stock surface are consistent with the stock shape parameters, and a simulation verification result is obtained. In addition, the stockpile elevation map can be verified in an actual scene, a shoveling business test in the actual scene is executed according to the stockpile elevation map, a shoveling process is executed, to verify whether the real mechanical equipment can accurately identify the stock surface and perform shoveling and unloading actions according to the stockpile elevation map, and an actual scene verification result is obtained.

[0110] The technical scheme of the embodiment of the present application realizes the conversion of the physical space information of the real stockyard into digital coordinate data, provides accurate space reference for subsequent stockpile modeling, placement and scene simulation, and supports accurate mapping of the virtual scene and the real stockyard. Further, the three-dimensional stockpile model is constructed according to the stockpile shape parameters, the effect that the three-dimensional stockpile model can be constructed according to the stockpile position information is realized, the three-dimensional stockpile model constructed is accurately adapted in size and shape to the stockyard space, and a basic model that meets the physical logic is provided for the reasonable placement of the stockpile in the stockyard and the subsequent virtual scene integration. Further, the target stockyard map is generated according to the three-dimensional stockyard map and the three-dimensional stockpile model, and the three-dimensional stockpile model is completely integrated with the three-dimensional stockyard map, and the effect that the surface height distribution information of the stockpile is accurately extracted according to the target stockyard map is realized. The technical scheme of the embodiment of the present application solves the problem in the related art that the data collected on site is usually used when the stockpile elevation map is generated, which results in high time cost, much work and the inability to simulate various working conditions, realizes the effect that the three-dimensional stockpile model is constructed according to the stockpile position information extracted from the stockyard map, and finally the stockpile elevation map is generated, that is, the effect that the stockpile elevation map can be generated without relying on the data collected on site is realized, the time cost and the labor input are greatly reduced, and various stockyard working conditions can be flexibly simulated, and accurate stockpile height distribution information is efficiently output.

[0111] Embodiment two

[0112] Figure 3 is a flowchart of a virtual stockpile map generation method provided by the second embodiment of the present application. Based on the foregoing embodiment, the generation method of the stockpile elevation map is further refined. The specific implementation manner can be referred to the technical scheme of the present embodiment. Among them, the technical terms same or similar to the above-mentioned embodiments will not be described here. As shown in the following formula (1), the method comprises the following steps. Figure 3

[0113] S210, obtaining stockyard position information according to a three-dimensional stockyard map of a stockyard; wherein the stockyard is used for stacking materials; and the three-dimensional stockyard map comprises a three-dimensional stockyard model.

[0114] S220, determining a stockpile shape parameter according to the stockyard position information, and constructing a three-dimensional stockpile model to be integrated into the three-dimensional stockyard model according to the stockpile shape parameter.

[0115] S230, generating a target stockyard map according to the three-dimensional stockyard map and the three-dimensional stockpile model.

[0116] ​S240, adding at least one scanning track in the target stockyard map.

[0117] The scanning track can refer to a path planned in the target stockyard map for the simulated mechanical device to travel, which can be used for scanning the stock surface height of the three-dimensional stockpile model in the target stockyard map. The scanning track can ensure that the scanning range covers the key area of the stockpile (such as the overall appearance of the stock surface or the operation focus area). The scanning track can be represented by a three-dimensional coordinate sequence, including a starting point three-dimensional coordinate, a passing point three-dimensional coordinate, and an ending point three-dimensional coordinate.

[0118] In this embodiment, adding at least one scanning track in the target stockyard map can include at least one of the following: in response to a track drawing operation of a user for the target stockyard map, adding at least one scanning track in the target stockyard map according to the track drawing operation; in response to a position input operation for a starting point position and an ending point position, generating at least one scanning track in the target stockyard map according to the input starting point position and ending point position.

[0119] In one embodiment, after obtaining the target stockyard map, a track drawing operation can be input for the target stockyard map. Further, at least one scanning track can be added in the target stockyard map in response to the received track drawing operation and according to the track drawing operation.

[0120] S250, controlling the simulated mechanical device to perform stock surface data scanning in the target stockyard map along the at least one scanning track to generate a stockpile elevation map corresponding to the stockyard.

[0121] The simulated mechanical device can refer to a virtual model simulating a real operation device (such as a loader, an unmanned loader, or an unmanned scanning vehicle), which has the same motion performance as the real operation device and is the execution subject of the scanning task. The simulated mechanical device can be equipped with a simulated scanning module. The simulated scanning module can refer to a virtual sensor module integrated on the simulated mechanical device, which is used to simulate the working principle of a real scanning device (such as a laser radar or a three-dimensional camera). The working principle of the simulated scanning module is as follows: a virtual detection signal is emitted; the signal reflects after contacting the surface of the stockpile, and the module receives the reflected signal and calculates the distance; according to the device position and the signal angle, the three-dimensional coordinates of the scanning point are determined. For example, the simulated mechanical device is a virtual loader model, which has the same size and motion parameters as the real loader, and the simulated scanning module is mounted on the top or the bucket of the virtual loader model.

[0122] The material surface data scanning can refer to a process of collecting three-dimensional data of the surface (material surface) of the three-dimensional stockpile model by the simulation scanning module carried by the simulation mechanical equipment when the simulation mechanical equipment moves along the scanning track. The material surface data scanning can be used to obtain the spatial coordinates of each point of the material surface of the three-dimensional stockpile model. The material surface data scanning can be scanning of the outer surface of the three-dimensional stockpile model, and the three-dimensional coordinates of each scanning point can be used to determine the height of the stockpile at the position.

[0123] In the embodiment, when at least one scanning track has been added in the target stockyard map, the simulation mechanical equipment can be controlled to simulate the process of material surface data scanning according to the at least one scanning track in the target stockyard map, so as to perform material surface data scanning on the three-dimensional stockpile model in the target stockyard map. Then, the material surface scanning data can be obtained, and the stockpile elevation map can be generated according to the material surface scanning data.

[0124] In the embodiment, at least one scanning track is added in the target stockyard map, and the scanning track according to which the simulation mechanical equipment performs the material surface data scanning includes one or more. When the scanning track is one or more, the determination method of the corresponding material surface elevation map is different. The two cases can be described as follows.

[0125] Optionally, the scanning track includes multiple scanning tracks, and the control of the simulation mechanical equipment to perform the material surface data scanning along the at least one scanning track in the target stockyard map to generate the stockpile elevation map corresponding to the stockyard includes: for the multiple scanning tracks, controlling the simulation mechanical equipment to perform the material surface data scanning along a current scanning track in the target stockyard map to obtain first material surface scanning data, and generating an adjusted stockpile elevation map according to the first material surface scanning data; controlling the simulation mechanical equipment to perform the material surface data scanning along other scanning tracks except the current scanning track in the target stockyard map to obtain second material surface scanning data, and adjusting the adjusted stockpile elevation map according to the second material surface scanning data to obtain the stockpile elevation map corresponding to the stockyard.

[0126] The multiple scanning tracks can refer to one or more scanning tracks, i.e., two or more scanning tracks. The current scanning track can refer to any scanning track that is currently being scanned in the multiple scanning tracks. The first stock surface scanning data can refer to the stock surface data collected after the simulation mechanical device scans along the current scanning track, and includes the three-dimensional coordinates of all scanning points in the scanning track coverage area. The first stock surface scanning data can only reflect the stock surface information of the current scanning track coverage area, and there can be missing data in the unscanned area. The to-be-adjusted stock elevation map can refer to the preliminary elevation map generated according to the first stock surface scanning data. The other scanning tracks can refer to the remaining scanning tracks other than the current scanning track in the multiple scanning tracks. The second stock surface scanning data can refer to the stock surface supplementary data collected after the simulation mechanical device scans along the other scanning tracks, and includes the three-dimensional coordinates of the scanning points in the other scanning track coverage area. The second stock surface scanning data can be used to supplement the missing area of the first stock surface scanning data and correct possible errors.

[0127] In one embodiment, when the added scanning track in the target stock bin map is multiple, for the multiple scanning tracks, the simulation mechanical device can be controlled to scan the stock surface data in the target stock bin map along the current scanning track to obtain first stock surface scanning data. Further, the first stock surface scanning data can be processed according to the mapping algorithm to generate a to-be-adjusted stock elevation map. Further, the simulation mechanical device can be controlled to scan the stock surface data in the target stock bin map along the other scanning tracks other than the current scanning track in the multiple scanning tracks to obtain second stock surface scanning data. Further, the to-be-adjusted stock elevation map can be corrected and / or filled with missing data according to the second stock surface scanning data, and the adjusted to-be-adjusted stock elevation map is taken as the stock elevation map corresponding to the stock bin.

[0128] Optionally, the scanning track includes one; the simulation mechanical device is controlled to scan the stock surface data in the target stock bin map along the at least one scanning track to generate the stock elevation map corresponding to the stock bin, including: controlling the simulation mechanical device to scan the stock surface data in the target stock bin map along the scanning track to obtain third stock surface scanning data, and generating the stock elevation map according to the third stock surface scanning data.

[0129] In one embodiment, when the added scanning track in the target stock bin map is one, the simulation mechanical device can be controlled to scan the stock surface data in the target stock bin map along the scanning track to obtain third stock surface scanning data. Further, the third stock surface scanning data can be processed according to the mapping algorithm to generate the stock elevation map corresponding to the stock bin.

[0130] The technical scheme of the embodiment of the present application adds at least one scanning track in the target stockyard map; further, the simulation mechanical equipment is controlled to scan the stock surface data along the at least one scanning track in the target stockyard map to generate the stockpile elevation map corresponding to the stockyard, so that the scanning track is preset in the virtual target stockyard map and the simulation equipment is controlled to scan, the stockpile elevation map covering the complete and accurate data is efficiently generated without field operation, reliable data support is provided for subsequent simulation mechanical equipment operation planning, and the cost and limitation of field scanning are reduced.

[0131] Embodiment three

[0132] In order to better understand the virtual stockpile map generation method provided by the embodiment of the present application, the following will be exemplarily described in combination with examples. Exemplarily, the virtual stockpile map generation method comprises the following steps:

[0133] 1. Referring again to Figure 2 , the coordinates of the four corner points of the stockyard A are recorded in a clockwise order , , , as the stockyard position information, wherein , is the position of the stockyard facing the main road opening; the length of the stockyard is calculated according to the coordinates of the four corner points , and the width of the stockyard is calculated ;

[0134] 2. According to the length and width of the stockyard, the stockpile shape parameters are determined, including but not limited to the length, width, height, slope angle, stockpile volume occupying stockyard capacity percentage, etc. of the stockpile; according to the stockpile shape parameters, a three-dimensional stockpile model is generated;

[0135] 3. The coordinates of the stockyard center point are calculated according to the coordinates of the four corner points , ; based on the coordinates of the stockyard center point, the stockpile pose information is determined ;

[0136] 4. The three-dimensional stockpile model is integrated into the three-dimensional stockyard model of the three-dimensional stockyard map according to the stockpile pose information, and the target stockyard map is determined according to the three-dimensional stockyard map in which the three-dimensional stockpile model is placed;

[0137] 5. The simulation loader is controlled to advance and retreat along the main road in the target stockyard map to simulate the process of stock surface data scanning, obtain the stock surface scanning data, and process the stock surface scanning data using a mapping algorithm to generate a stockpile elevation map;

[0138] 6. Play back the material surface data and observe whether a material surface shape is generated. Observe whether the position and posture of the material surface are consistent with the design parameters. Conduct business tests and observe whether the loader can correctly identify the material surface and perform the shoveling and unloading actions.

[0139] Example 4

[0140] Figure 4 This is a schematic diagram of the structure of a virtual stockpile map generation device provided in Embodiment 4 of the present invention. Figure 4 As shown, the device includes: a silo location information acquisition module 310, a stockpile model construction module 320, a silo map generation module 330, and a stockpile elevation map generation module 340. The silo location information acquisition module 310 is used to acquire silo location information based on a 3D silo map; wherein the silo is used to store materials; the 3D silo map includes a 3D silo model; the stockpile model construction module 320 is used to determine stockpile shape parameters based on the silo location information, and construct a 3D stockpile model to be integrated into the 3D silo model based on the stockpile shape parameters; the silo map generation module 330 is used to generate a target silo map based on the 3D silo map and the 3D stockpile model; and the stockpile elevation map generation module 340 is used to determine the stockpile elevation map corresponding to the silo based on the target silo map.

[0141] The technical scheme of the embodiment of the present application comprises the following steps: obtaining the position information of the stockyard according to the three-dimensional stockyard map of the stockyard; the stockyard is used for stacking materials; the three-dimensional stockyard map comprises a three-dimensional stockyard model, and the physical space information of the real stockyard is converted into digital coordinate data, thereby providing accurate spatial reference for subsequent material pile modeling, placement and scene simulation, and supporting accurate mapping of the virtual scene and the real stockyard. Further, the shape parameters of the material pile are determined according to the position information of the stockyard, and a three-dimensional material pile model to be integrated into the three-dimensional stockyard model is constructed according to the shape parameters of the material pile, thereby realizing the effect that the three-dimensional material pile model can be constructed only according to the position information of the stockyard, ensuring that the three-dimensional material pile model constructed is accurately adapted to the stockyard space in size and shape, and providing a basic model conforming to physical logic for the reasonable placement of the material pile in the stockyard and the subsequent virtual scene integration. Further, the target stockyard map is generated according to the three-dimensional stockyard map and the three-dimensional material pile model, and the material pile elevation map corresponding to the stockyard is determined based on the target stockyard map, thereby realizing the complete integration of the three-dimensional material pile model and the three-dimensional stockyard map, and accurately extracting the surface height distribution information of the material pile according to the target stockyard map. The technical scheme of the embodiment of the present application solves the problem in the related art that the data collected on site is usually used when generating the material pile elevation map, thereby resulting in high time cost, much work and the inability to simulate various working conditions, realizes the effect that the three-dimensional material pile model is constructed according to the position information of the stockyard extracted from the stockyard map, and finally generates the material pile elevation map, that is, realizes the effect that the material pile elevation map can be generated without relying on the data collected on site, greatly reduces the time cost and labor input, and can flexibly simulate various stockyard working conditions, and efficiently outputs accurate material pile height distribution information.

[0142] Optionally, the material pile model construction module 320 comprises a stockyard size determination unit and a material pile shape parameter determination unit. The stockyard size determination unit is configured to determine stockyard size parameters according to the position information of the stockyard; the stockyard size parameters at least comprise a stockyard width, a stockyard length and a stockyard height; and the material pile shape parameter determination unit is configured to determine material pile shape parameters according to the stockyard size parameters.

[0143] Optionally, the material pile shape parameters comprise at least one of a material pile length upper limit, a material pile width upper limit, a material pile height upper limit, a material pile slope angle and a material pile capacity proportion.

[0144] Optionally, the stockyard map generation module 330 comprises a material pile pose information acquisition unit and a stockyard map generation unit. The material pile pose information acquisition unit is configured to acquire pre-determined material pile pose information; and the stockyard map generation unit is configured to integrate the three-dimensional material pile model into the three-dimensional stockyard model of the three-dimensional stockyard map according to the material pile pose information, and determine a target stockyard map according to the three-dimensional stockyard map in which the three-dimensional material pile model is placed.

[0145] Optionally, the device further comprises a center position determining module and a stockpile pose information determining module. The reference position determining module is configured to determine a reference position of the stockpile according to the stockpile position information; and the stockpile pose information determining module is configured to determine stockpile position information according to the reference position of the stockpile, and take the stockpile position information and preset stockpile attitude information as stockpile pose information.

[0146] Optionally, the device further comprises a stockpile model adjusting module. The stockpile model adjusting module is configured to adjust a stockpile shape parameter of the three-dimensional stockpile model after the target stockpile map is generated according to the three-dimensional stockpile map and the three-dimensional stockpile model, and update the target stockpile map according to the adjusted three-dimensional stockpile model.

[0147] Optionally, the stockpile elevation map generating module 340 comprises a scanning track adding unit and a stockpile elevation map generating unit. The scanning track adding unit is configured to add at least one scanning track in the target stockpile map; and the stockpile elevation map generating unit is configured to control a simulation mechanical device to perform stockpile surface data scanning along at least one scanning track in the target stockpile map to generate a stockpile elevation map corresponding to the stockpile, wherein the simulation mechanical device is configured with a simulation scanning module.

[0148] Optionally, the scanning track comprises a plurality of scanning tracks; and the stockpile elevation map generating unit comprises a stockpile surface scanning data obtaining subunit and a stockpile elevation map generating subunit. The stockpile surface scanning data obtaining subunit is configured to control the simulation mechanical device to perform stockpile surface data scanning along a current scanning track in the target stockpile map to obtain first stockpile surface scanning data, and generate a to-be-adjusted stockpile elevation map according to the first stockpile surface scanning data; and the stockpile elevation map generating subunit is configured to control the simulation mechanical device to perform stockpile surface data scanning along other scanning tracks except the current scanning track in the target stockpile map to obtain second stockpile surface scanning data, and adjust the to-be-adjusted stockpile elevation map according to the second stockpile surface scanning data to obtain the stockpile elevation map corresponding to the stockpile.

[0149] Optionally, the device further comprises an elevation map verifying module. The elevation map verifying module is configured to verify the stockpile elevation map to determine a verification result corresponding to the stockpile elevation map; wherein the verification result comprises a simulation verification result and an actual scene verification result.

[0150] The virtual stockpile map generating device provided in the embodiments of the present application can execute the virtual stockpile map generating method provided in any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0151] Embodiment five

[0152] Figure 5 A structural diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application described and / or claimed in this document.

[0153] As shown in Figure 5 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., connected in communication with the at least one processor 11, where the memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer programs stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0154] Various components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc., an output unit 17, such as various types of displays, a speaker, etc., a storage unit 18, such as a magnetic disk, an optical disk, etc., and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0155] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the method of generating a virtual stockpile map.

[0156] In some embodiments, the method of generating a virtual stockpile map can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as storage unit 18. In some embodiments, portions or all of the computer program can be loaded and / or installed onto electronic device 10 via, for example, ROM 12 and / or communication unit 19. When the computer program is loaded onto RAM 13 and executed by processor 11, one or more steps of the method of generating a virtual stockpile map described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the method of generating a virtual stockpile map by other means, such as, for example, by way of firmware.

[0157] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, specially designed application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0158] Computer programs implementing methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as part of a standalone software package, or entirely on a remote machine or server.

[0159] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0160] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0161] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a target blockchain network, and the Internet.

[0162] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0163] In particular, the processes described above with reference to the flow charts can be implemented as computer software programs in accordance with embodiments of the application. For example, embodiments of the application include a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program comprising program code for executing the methods illustrated by the flow charts. In such embodiments, the computer program can be downloaded and installed from a network via the communication unit 19, or installed from the storage unit 18, or installed from the ROM 12. When the computer program is executed by the processor 11, the above-described functions defined in the methods of the embodiments of the application are performed.

[0164] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present application. For example, the steps recited in the present application can be performed in parallel, in series, or in a different order, without departing from the desired results of the technical solutions of the present application, and this is not limited herein.

[0165] The above detailed description does not constitute a limitation on the protection scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of generating a virtual stockpile map, characterized by, The method comprises the following steps: According to the three-dimensional stockyard map of the stockyard, the stockyard position information is obtained; wherein, the stockyard is used for stacking materials; the three-dimensional stockyard map comprises a three-dimensional stockyard model; According to the stockyard position information, the stockpile shape parameters are determined, and according to the stockpile shape parameters, a three-dimensional stockpile model to be integrated into the three-dimensional stockyard model is constructed; According to the three-dimensional stockyard map and the three-dimensional stockpile model, a target stockyard map is generated; Based on the target stockyard map, the stockpile elevation map corresponding to the stockyard is determined.

2. The method of generating a virtual stockpile map according to claim 1, wherein, The determination of the stockpile shape parameters according to the stockyard position information comprises: According to the stockyard position information, the stockyard size parameters are determined; wherein, the stockyard size parameters at least include the stockyard width, the stockyard length and the stockyard height; According to the stockyard size parameters, the stockpile shape parameters are determined.

3. The method of generating a virtual stockpile map according to claim 2, wherein, The stockpile shape parameters include at least one of the stockpile length upper limit, the stockpile width upper limit, the stockpile height upper limit, the stockpile slope angle and the stockpile capacity proportion.

4. The method of generating a virtual stockpile map according to claim 1, wherein, The generation of the target stockyard map according to the three-dimensional stockyard map and the three-dimensional stockpile model comprises: The pre-determined stockpile pose information is obtained; According to the stockpile pose information, the three-dimensional stockpile model is integrated into the three-dimensional stockyard model of the three-dimensional stockyard map, and the target stockyard map is determined according to the three-dimensional stockyard map where the three-dimensional stockpile model is placed.

5. The method of generating a virtual stockpile map according to claim 4, wherein, Further comprising: According to the stockyard position information, the stockyard reference position is determined; According to the stockyard reference position, the stockpile position information is determined, and the stockpile position information and the pre-set stockpile attitude information are taken as the stockpile pose information.

6. The method of generating a virtual stockpile map according to claim 1, wherein, After the generation of the target stockyard map according to the three-dimensional stockyard map and the three-dimensional stockpile model, further comprising: The stockpile shape parameters of the three-dimensional stockpile model are adjusted, and the target stockyard map is updated according to the adjusted three-dimensional stockpile model.

7. The method of generating a virtual stockpile map according to claim 1, wherein, The determination of the stockpile elevation map corresponding to the stockyard based on the target stockyard map comprises: At least one scanning track is added in the target stockyard map; The simulation mechanical equipment is controlled to perform material surface data scanning in the target stockyard map along at least one scanning track, so as to generate the stockpile elevation map corresponding to the stockyard; wherein, the simulation scanning module is configured in the simulation mechanical equipment.

8. The method of generating a virtual stockpile map according to claim 7, wherein, The scanning track comprises a plurality of scanning tracks; the simulation mechanical equipment is controlled to perform material surface data scanning in the target stockyard map along at least one scanning track, so as to generate the stockpile elevation map corresponding to the stockyard; wherein, the simulation scanning module is configured in the simulation mechanical equipment. The scanning track comprises a plurality of scanning tracks; the simulation mechanical equipment is controlled to perform material surface data scanning in the target stockyard map along at least one scanning track, so as to generate the stockpile elevation map corresponding to the stockyard; wherein, the simulation scanning module is configured in the simulation mechanical equipment. Further comprising:

9. The method of generating a virtual stockpile map according to claim 1, wherein, ​ The stockpile elevation map is verified to determine a verification result corresponding to the stockpile elevation map.

10. An apparatus for generating a virtual stockpile map, characterized by comprising: The method comprises the following steps: A silo position information acquisition module is configured to acquire silo position information according to a three-dimensional silo map of a silo, wherein the silo is used for stacking materials, and the three-dimensional silo map comprises a three-dimensional silo model; A stockpile model construction module is configured to determine a stockpile shape parameter according to the silo position information, and construct a three-dimensional stockpile model to be integrated into the three-dimensional silo model according to the stockpile shape parameter; A silo map generation module is configured to generate a target silo map according to the three-dimensional silo map and the three-dimensional stockpile model; A stockpile elevation map generation module is configured to determine a stockpile elevation map corresponding to the silo based on the target silo map.

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