CN113129262A - Automatic detection and supplement method and device for soil discharge position, storage medium and electronic equipment - Google Patents
Automatic detection and supplement method and device for soil discharge position, storage medium and electronic equipment Download PDFInfo
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Abstract
The invention provides a method and a device for automatically detecting and supplementing a soil discharge position, a storage medium and electronic equipment, and relates to the technical field of mining. The invention obtains the fully arranged marshalling of the soil discharging position; determining a point cloud acquisition target area based on the grouping, and acquiring point cloud data of the target area; carrying out segmentation classification on the point cloud data; extracting a sloping field boundary based on the classified point cloud data; and calculating the coordinates and the orientation of the soil discharge position needing to be supplemented based on the boundary of the sloping field and the current soil discharge line. The invention can realize that the incomplete soil discharging area is detected before the forklift repairs the retaining wall and the soil discharging position is planned to continue to discharge and supplement materials, avoid the inconsistent soil discharging line propulsion and possible ground collapse risks caused by the lack of materials and effectively improve the normative and the safety of the automatic driving soil discharging operation.
Description
Technical Field
The invention relates to the technical field of mining, in particular to a method and a device for automatically detecting and supplementing a dumping position applied to automatic driving of a surface mine, a storage medium and electronic equipment.
Background
The traditional surface mine has the characteristics of severe operating environment and high danger coefficient, and is one of the best choices for the automatic driving technology landing scene due to the characteristics of relatively closed and open environment. The earthwork operation is an important link in mine operation, and the general flow of the earthwork operation is excavation, transportation and dumping, namely, earthwork in a loading area is stripped, transported to a dumping yard through a mine truck and unloaded by selecting a proper dumping position.
The safety and efficiency of the open-air operation are detected based on the design of the dumping position of the dumping line of the dumping site and the state change of the dumping position, and the method is an important ring of the whole open-air mine operation. For example, patent publication No. CN110991771A describes a method for estimating the volume of a soil discharge position, which mainly includes designing a series of parameters of the state of the soil discharge position and a logic for determining whether the volume of the soil discharge position is saturated based on the parameters, patent CN112053347A optimizes the calculation process and the logic for determining the soil discharge position parameters and adds intrusion determination to adjacent soil discharge positions, and dynamically adjusts the soil discharge line in real time in a transverse or longitudinal direction based on the intrusion parameters, and patent CN111829507A proposes a method for automatically updating the retaining wall of the soil discharge position, and when the soil discharge operation is completed and the resources of the soil discharge position in the area are exhausted, a forklift is scheduled to trim the retaining wall, then the vehicle is scheduled to scan the target point cloud area, and the retaining wall is automatically updated based on the LiDAR (laser radar) obtained by scanning, so as to generate new soil discharge resources.
The existing method improves the capacity estimation of the soil discharge position and the effective utilization efficiency of the soil discharge position resource, but the existing method can not ensure that the earthwork material is filled along the soil discharge line. If the earth and stone materials are not filled along the dumping line, the dumping line can not be uniformly and integrally pushed out when the forklift is trimmed, and the ground collapse of the material lack area can be caused during the subsequent dumping operation, so that the safety and the efficiency of the operation are influenced.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a method, a device, a storage medium and electronic equipment for automatically detecting and supplementing a soil discharge position, and solves the technical problem that the existing method can not ensure that earthwork materials are filled along a soil discharge line.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, the present invention provides a method for automatically detecting and supplementing a soil discharge position, comprising:
obtaining a full marshalling of a soil discharge position;
determining a point cloud acquisition target area based on the grouping, and acquiring point cloud data of the target area;
carrying out segmentation classification on the point cloud data;
extracting a sloping field boundary based on the classified point cloud data;
and calculating the coordinates and the orientation of the soil discharge position needing to be supplemented based on the boundary of the sloping field and the current soil discharge line.
Preferably, the calculating of the coordinates and orientation of the soil discharge position to be supplemented based on the slope boundary line and the current soil discharge line includes:
calculating the distance between the nearest point of the outermost side of the incomplete soil discharging area to the current soil discharging line and the current soil discharging line based on the slope boundary and the current soil discharging line, comparing the distance with a preset maximum distance threshold value, and when the distance is smaller than the maximum distance; calculating the maximum width of the area, and when the maximum width is larger than the width of the truck car, determining the area as a soil discharge position needing to be supplemented; calculating a fitting straight line closest to a current soil discharging line from a valley point and a normal vector facing to a soil discharging field in a soil discharging position needing to be supplemented, moving the fitting straight line along the normal direction, calculating two intersection points of a boundary line with a sloping field, calculating a middle point when the distance between the two points is not less than the width of a vehicle body, and moving the middle point to the central point of a rear axle along the normal direction to obtain the supplemented soil discharging position and orientation.
Preferably, before performing segmentation classification on the point cloud data, the method further comprises:
and filtering the point cloud data.
Preferably, the segmenting and classifying the point cloud data includes:
and partitioning the point cloud data by adopting a random consistency sampling algorithm and separating a ground point cloud and a slope point cloud.
In a second aspect, the present invention provides an automatic detecting and supplementing device for a soil discharging position, comprising:
the marshalling detection module is used for acquiring marshalling with a fully arranged soil discharging position;
the point cloud acquisition module is used for determining a point cloud acquisition target area based on the grouping and acquiring point cloud data of the target area;
the point cloud classification module is used for carrying out segmentation classification on the point cloud data;
the boundary line extraction module is used for extracting a slope boundary line based on the classified point cloud data;
and the calculation module is used for calculating the coordinates and the orientation of the soil discharging position needing to be supplemented based on the sloping field boundary and the current soil discharging line.
Preferably, the calculating of the coordinates and orientation of the soil discharge position to be supplemented based on the slope boundary line and the current soil discharge line includes:
calculating the distance between the nearest point of the outermost side of the incomplete soil discharging area to the current soil discharging line and the current soil discharging line based on the slope boundary and the current soil discharging line, comparing the distance with a preset maximum distance threshold value, and when the distance is smaller than the maximum distance; calculating the maximum width of the area, when the maximum width is larger than the width of the truck car, the area is a soil discharging position needing to be supplemented, calculating a fitting straight line closest to a valley point and a normal vector facing the inside of the soil discharging position in the soil discharging position needing to be supplemented, moving the fitting straight line along the normal direction, calculating two intersection points of a boundary line with a sloping field, when the distance between the two points is not smaller than the width of the truck body, calculating a middle point, and moving the middle point to the central point of a rear axle along the normal direction to obtain the supplemented soil discharging position and the supplemented soil discharging direction.
Preferably, before the point cloud data is segmented and classified, the point cloud classification module is further configured to:
and filtering the point cloud data.
Preferably, the segmenting and classifying the point cloud data includes:
and partitioning the point cloud data by adopting a random consistency sampling algorithm and separating a ground point cloud and a slope point cloud.
In a third aspect, the present invention provides a computer-readable storage medium storing a computer program for automatic detection and supplement of a soil discharge position, wherein the computer program causes a computer to execute the automatic detection and supplement method of a soil discharge position.
In a fourth aspect, the present invention provides an electronic device comprising:
one or more processors;
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the above-described method for supplementing automatic detection of a gutter.
(III) advantageous effects
The invention provides a method and a device for automatically detecting and supplementing a soil discharge position, a storage medium and electronic equipment. Compared with the prior art, the method has the following beneficial effects:
the invention obtains the fully arranged marshalling of the soil discharging position; determining a point cloud acquisition target area based on the grouping, and acquiring point cloud data of the target area; carrying out segmentation classification on the point cloud data; extracting a sloping field boundary based on the classified point cloud data; and calculating the coordinates and the orientation of the soil discharge position needing to be supplemented based on the boundary of the sloping field and the current soil discharge line. The invention can realize that the incomplete soil discharging area is detected before the forklift repairs the retaining wall and the soil discharging position is planned to continue to discharge and supplement materials, thereby avoiding the inconsistent soil discharging line propulsion and possible ground collapse risks caused by the lack of materials and effectively improving the normalization and the safety of the automatic driving soil discharging operation; the automatic driving operation process of the dump of the surface mine is improved, the automatic driving scene of the surface mine is adapted, and the utilization rate of the dump resource of the dump is effectively improved under the conditions of automatic planning dump and automatic driving dump operation; meanwhile, a processing closed loop for generating, utilizing and supplementing the waste dump resources is formed, and the waste dump resources are more flexibly used.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flowchart of a method for automatically detecting and supplementing a soil discharge position according to embodiment 1;
FIG. 2 is a schematic view showing the detection and supplement results of the boundary line and the soil discharge site of the sloping field in example 1;
fig. 3 is a schematic diagram illustrating the calculation of the coordinates and orientation of the supplementary soil discharge position in example 1.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the application provides a method, a device, a storage medium and an electronic device for automatically detecting and supplementing the soil discharge position, solves the technical problem that the existing method cannot guarantee that earthwork materials are filled along the soil discharge line, realizes detection of an incomplete soil discharge area and planning of the soil discharge position to continue soil discharge and supplement of the materials before a forklift repairs a retaining wall, avoids the inconsistent soil discharge line propulsion and possible ground collapse risks caused by lack of the materials, and effectively improves the standardization and the safety of automatic driving soil discharge operation.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows:
the safety and efficiency of the open-air operation are detected based on the design of the dumping position of the dumping line of the dumping site and the state change of the dumping position, and the method is an important ring of the whole open-air mine operation. In the process of strip mine operation, when the dumping operation is required to be completed and the dumping site resources in the area are exhausted, a forklift is dispatched to repair the retaining wall, then the forklift is dispatched to scan the target area, the retaining wall is automatically updated based on LiDAR point cloud obtained through scanning, and new dumping site resources are generated. However, the existing method cannot guarantee the completeness of the unloading of the earthwork and rockfill in the soil discharging line area, that is, the earthwork and rockfill materials cannot be guaranteed to be filled along the soil discharging line, so that the operation of repairing the retaining wall by a forklift is not standard, the soil discharging line cannot be uniformly and integrally pushed out, the ground collapse of the material shortage area can be caused during the subsequent soil discharging operation, and the safety and the efficiency of the operation are affected. Therefore, the area lacking the earth and stone materials needs to be detected before the retaining wall is repaired, and the corresponding soil discharging position is planned to discharge soil and supplement the materials. In order to solve the above problems, embodiments of the present invention provide a method, an apparatus, a storage medium, and an electronic device for automatically detecting and supplementing a discharging position, which are used for detecting an area with incomplete discharging before a forklift repairs a retaining wall and planning a discharging position to continue discharging and supplementing materials by judging the use condition of a discharging position resource in a grouping, calculating a discharging position coordinate and an orientation to be supplemented if the discharging position resource is used up, and providing the discharging position coordinate and the orientation to be supplemented to a management platform to schedule a mine card to continue discharging.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Example 1:
as shown in fig. 1, the embodiment of the invention discloses a method for automatically detecting and supplementing a dump site applied to automatic driving of a surface mine, which is executed by a computer and comprises the following steps of S1-S5:
s1, obtaining a marshalling with the soil discharge positions fully discharged;
s2, determining a point cloud acquisition target area based on the grouping, and acquiring point cloud data of the target area;
s3, carrying out segmentation and classification on the point cloud data;
s4, extracting a sloping field boundary based on the classified point cloud data;
and S5, calculating the coordinates and the orientation of the soil discharging position needing to be supplemented based on the sloping field boundary and the current soil discharging line.
The embodiment of the invention provides an automatic detection and supplement method for a soil discharge position applied to automatic driving of a surface mine, which is used for detecting an incomplete soil discharge area before a forklift repairs a retaining wall and planning the soil discharge position to continue to discharge and supplement materials, so that the problems of inconsistent soil discharge line propulsion and possible ground collapse risks caused by material shortage are avoided, and the standardization and the safety of automatic driving soil discharge operation are effectively improved.
The following describes the implementation process of the embodiment of the present invention in detail:
in step S1, a fully arranged group of the soil discharge positions is obtained, and the specific implementation process is as follows:
the management platform (in the embodiment of the invention, the management platform is a terminal for automatically detecting the soil discharge positions, such as a computer) schedules the mining dump truck to enter an available soil discharge position for unloading the earthwork in real time, simultaneously detects the marshalling soil discharge position resources, and executes the next step when detecting that a certain marshalling soil discharge position is full.
The process of detecting whether a certain grouping soil discharging position is full is as follows:
collecting point cloud data in a current dumping position area in a marshalling;
calculating the use state parameters of the current soil discharging position according to the point cloud data in the current soil discharging position area; and judging whether the current soil discharging position can be continuously used or not according to the using state parameters of the current soil discharging position.
And repeating the process, judging all the soil discharge positions of the marshalling, and when detecting that all the soil discharge positions in the marshalling cannot be used continuously, namely the soil discharge positions of the marshalling are fully arranged. The above process is prior art, and is specifically referred to in patent publication No. CN112053347A, and is not described herein again.
In step S2, a point cloud collection target area is determined based on the grouping, and point cloud data of the target area is obtained, which is implemented as follows:
the management platform marshalling position determines the range of point clouds to be collected, a nearby ore card which finishes unloading or is about to finish unloading or a forklift with a drawing function is scheduled to scan a target area, in order to ensure the point cloud density of the updated area, the speed of the ore card is limited (not more than 6km/h) in the point cloud collection process, the track is required to be 8-10 meters away from a soil discharge slope line, and complete LiDAR point cloud data in the area are obtained and uploaded to the management platform end.
In step S3, the point cloud data is segmented and classified, and the specific implementation process is as follows:
the management platform firstly cuts the point cloud data based on the target area range, and performs voxel filtering on the cut point cloud data, so that the data is prevented from being bloated, and the data size is reduced. And filtering the vehicle body shielding point cloud and the point cloud data outside the effective range based on the vehicle track, and finally filtering the isolated point set by a statistical filtering and radius filtering algorithm. And calculating geometrical parameters of the point cloud, and segmenting the filtered point cloud data by using a random consistency sampling algorithm and separating a ground point cloud and a slope point cloud.
In step S4, a slope boundary is extracted based on the sorted point cloud data. The specific implementation process is as follows:
extracting an outer contour from the ground point cloud obtained in the step S3 by using an Alpha-Shapes algorithm, filtering out non-physically blocked boundary points by combining the slope point cloud obtained in the step S3, reserving a slope boundary point set along the trend of the soil discharge line, and performing a series of processing such as filtering, smoothing and encryption to obtain an accurate boundary of the slope after soil discharge, as shown in fig. 2. The method specifically comprises the following steps:
firstly, outlier noise points and elevation abnormal points are filtered based on the ground point cloud obtained in S3, an alpha radius (0.1 m is generally taken for 0.3m resolution point cloud based on point cloud density setting) ring is used for sliding along the ground point cloud boundary to obtain a complete and closed ground outer contour point set, then the non-ground points obtained in S3 are combined, the ground boundary near the slope point is reserved, the outlier noise points are filtered, and finally necessary smoothing and encryption processing are carried out to obtain a new slope boundary line along the trend of the current soil discharge line.
In step S5, the coordinates and orientation of the soil discharge position to be supplemented are calculated based on the boundary of the sloping field and the current soil discharge line, and the specific implementation procedure is as follows:
it should be noted that, in the process of discharging the soil of the mining truck, the soil is discharged based on the soil discharge position on the current soil discharge line, after the soil discharge position is used up, the forklift needs to finish the retaining wall, then a new soil discharge line is calculated, and finally a new soil discharge position is planned on the basis of the new soil discharge line, so in the embodiment of the present invention, the current soil discharge line is known.
Calculating the distance between the point (namely the lowest point of the trough in the figure 2 and the figure) at the outermost side of the incomplete soil discharging area (trough) closest to the current soil discharging line and the current soil discharging line based on the sloping field boundary line and the current soil discharging line, comparing the distance with a preset maximum distance threshold value, and when the distance is smaller than the maximum distance; and calculating the maximum width of the area, when the maximum width is larger than the width of the truck car, the area is a dumping position needing to be supplemented, calculating the berthable positions (and the midpoint thereof) of the rear wheels at the two sides in the dumping position needing to be supplemented, obtaining a normal vector with the direction of the dumping position as the over-midpoint and directing the dumping position to the dumping field, and the coordinates of the dumping position are the central point (the central point translates by 1.4m along the direction) of the rear shaft of the truck in the scene. And generating the coordinates and the orientation (round points and arrows in fig. 2) of the dumping positions available for unloading of the mine cards, and providing the coordinates and the orientation to the management platform to schedule the mine cards to continue dumping.
As shown in fig. 3, the specific calculation process of the coordinates and orientation of the discharging position for unloading the mine card is as follows:
firstly, calculating valley points (closest points to the current soil discharging line) of the boundary of the sloping field obtained in S4, listing all the wave troughs as potential replenishable soil discharging positions, setting a threshold value dis _ max (set to be 3.5m in the embodiment of the invention) of the maximum distance between the replenishable soil discharging position and the current soil discharging line, calculating a point set (wave trough) with the left and right of each wave trough within the threshold value and calculating the maximum width _ max, reserving a point set (wave trough) with the maximum width larger than (capable of containing) the width vehicle _ width of the mine truck body (3.2 m in the embodiment of the invention) as the soil discharging position needing to be replenished, after the soil discharging position needing to be replenished is obtained, calculating a fitting straight line closest to the valley points and the normal vector (orientation) in the soil discharging field, moving the fitting straight line along the normal direction, calculating two intersections of the boundary of the sloping field, and calculating the middle points when the distance between the two points is not smaller than the width of, and moving to the central point of the rear shaft along the normal direction (the moving distance is the distance from the midpoint of the stopping line to the center of the rear shaft, the distance is the parameter of the mine truck, and the distance is different from vehicle to vehicle), so that the supplemented soil discharging position and orientation can be obtained.
Example 2:
the embodiment of the invention provides an automatic detection and supplement device for a soil discharge position, which comprises:
the marshalling detection module is used for acquiring marshalling with a fully arranged soil discharging position;
the point cloud acquisition module is used for determining a point cloud acquisition target area based on the grouping and acquiring point cloud data of the target area;
the point cloud classification module is used for carrying out segmentation classification on the point cloud data;
the boundary line extraction module is used for extracting a slope boundary line based on the classified point cloud data;
and the calculation module is used for calculating the coordinates and the orientation of the soil discharging position needing to be supplemented based on the sloping field boundary and the current soil discharging line.
It can be understood that the device for automatically detecting and supplementing a soil discharge position provided in the embodiment of the present invention corresponds to the method for automatically detecting and supplementing a soil discharge position, and the explanation, examples, and beneficial effects of the relevant contents thereof can refer to the corresponding contents in the method for automatically detecting and supplementing a soil discharge position, which are not described herein again.
Example 3:
a computer-readable storage medium storing a computer program for a gutter automatic detection supplement, wherein the computer program causes a computer to execute the gutter automatic detection supplement method as described above.
Example 4:
an electronic device, comprising:
one or more processors;
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising steps for performing the above-described method of fill level automation detection.
In summary, compared with the prior art, the method has the following beneficial effects:
1. the embodiment of the invention can realize detection of the incomplete soil discharging area and planning of the soil discharging position to continue soil discharging and supplement of materials before the forklift repairs the retaining wall, avoid inconsistent soil discharging line propulsion and possible ground collapse risks caused by material shortage, and effectively improve the normative and safety of automatic driving soil discharging operation.
2. The embodiment of the invention improves the operation process of the automatic driving dump of the surface mine, adapts to the automatic driving scene of the surface mine, and effectively improves the utilization rate of the dump resource under the conditions of automatic planning dump and automatic driving dump operation.
3. The embodiment of the invention forms a processing closed loop for generating, utilizing and supplementing the waste dump resources, and the waste dump resources are more flexibly used.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An automatic detection and supplement method for a soil discharge position is characterized by comprising the following steps:
obtaining a full marshalling of a soil discharge position;
determining a point cloud acquisition target area based on the grouping, and acquiring point cloud data of the target area;
carrying out segmentation classification on the point cloud data;
extracting a sloping field boundary based on the classified point cloud data;
and calculating the coordinates and the orientation of the soil discharge position needing to be supplemented based on the boundary of the sloping field and the current soil discharge line.
2. The automated testing and supplementing method for the soil discharge position according to claim 1, wherein the calculating of the coordinates and orientation of the soil discharge position to be supplemented based on the slope boundary line and the current soil discharge line comprises:
calculating the distance between the nearest point of the outermost side of the incomplete soil discharging area to the current soil discharging line and the current soil discharging line based on the slope boundary and the current soil discharging line, comparing the distance with a preset maximum distance threshold value, and when the distance is smaller than the maximum distance; calculating the maximum width of the area, and when the maximum width is larger than the width of the truck car, determining the area as a soil discharge position needing to be supplemented; calculating a fitting straight line closest to a current soil discharging line from a valley point and a normal vector facing to a soil discharging field in a soil discharging position needing to be supplemented, moving the fitting straight line along the normal direction, calculating two intersection points of a boundary line with a sloping field, calculating a middle point when the distance between the two points is not less than the width of a vehicle body, and moving the middle point to the central point of a rear axle along the normal direction to obtain the supplemented soil discharging position and orientation.
3. The method of supplementing the automated detection of a gutter location according to claim 1, wherein prior to performing segmentation classification of the point cloud data, the method further comprises:
and filtering the point cloud data.
4. The automatic detection and supplement method for the dump sites as claimed in any one of claims 1 to 3, wherein the segmentation and classification of the point cloud data comprises:
and partitioning the point cloud data by adopting a random consistency sampling algorithm and separating a ground point cloud and a slope point cloud.
5. The utility model provides a position of dumping automated inspection supplementary device which characterized in that includes:
the marshalling detection module is used for acquiring marshalling with a fully arranged soil discharging position;
the point cloud acquisition module is used for determining a point cloud acquisition target area based on the grouping and acquiring point cloud data of the target area;
the point cloud classification module is used for carrying out segmentation classification on the point cloud data;
the boundary line extraction module is used for extracting a slope boundary line based on the classified point cloud data;
and the calculation module is used for calculating the coordinates and the orientation of the soil discharging position needing to be supplemented based on the sloping field boundary and the current soil discharging line.
6. The apparatus for automatically detecting and supplementing a soil discharge position according to claim 5, wherein the calculating of coordinates and orientation of the soil discharge position to be supplemented based on the boundary of the sloping field and the current soil discharge line comprises:
calculating the distance between the nearest point of the outermost side of the incomplete soil discharging area to the current soil discharging line and the current soil discharging line based on the slope boundary and the current soil discharging line, comparing the distance with a preset maximum distance threshold value, and when the distance is smaller than the maximum distance; calculating the maximum width of the area, when the maximum width is larger than the width of the truck car, the area is a soil discharging position needing to be supplemented, calculating a fitting straight line closest to a valley point and a normal vector facing the inside of the soil discharging position in the soil discharging position needing to be supplemented, moving the fitting straight line along the normal direction, calculating two intersection points of a boundary line with a sloping field, when the distance between the two points is not smaller than the width of the truck body, calculating a middle point, and moving the middle point to the central point of a rear axle along the normal direction to obtain the supplemented soil discharging position and the supplemented soil discharging direction.
7. The apparatus of claim 5, wherein the point cloud classification module, prior to performing segmentation classification on the point cloud data, is further configured to:
and filtering the point cloud data.
8. The automatic detection and supplement method for the dump sites as claimed in any one of claims 5 to 7, wherein the segmentation and classification of the point cloud data comprises:
and partitioning the point cloud data by adopting a random consistency sampling algorithm and separating a ground point cloud and a slope point cloud.
9. A computer-readable storage medium storing a computer program for automatic detection supplement of a soil discharge position, wherein the computer program causes a computer to execute the automatic detection supplement method of a soil discharge position according to any one of claims 1 to 4.
10. An electronic device, comprising:
one or more processors;
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the method of supplementing the automated testing of a gutter location according to any of claims 1 to 4.
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