Method and apparatus for selecting target excavating point

1. A method for selecting a target excavating point, comprising:

acquiring a height map of a material pile;

discretizing the height map to obtain an excavating point set;

acquiring an excavating trajectory set of an excavating point in the excavating point set; and

selecting a target excavating point based on the excavating trajectory set of the excavating point in the excavating point set.

2. The method according to claim 1 , wherein the selecting a target excavating point based on the excavating trajectory set of the excavating point in the excavating point set comprises:

selecting a candidate excavating point set based on the excavating trajectory set of the excavating point in the excavating point set;

acquiring a material volume of a candidate excavating point in the candidate excavating point set; and

selecting a target excavating point based on the material volume of the candidate excavating point in the candidate excavating point set.

3. The method according to claim 2 , wherein the selecting a candidate excavating point set based on the excavating trajectory set of the excavating point in the excavating point set comprises:

for an excavating point in the excavating point set, determining whether the excavating trajectory set of the excavating point comprises an excavating trajectory on which a bucket of an excavator does not collide with an obstacle during movement and an excavating resistance is not greater than an excavating power of the excavator; and

in response to determining that the excavating trajectory set of the excavating point comprises the excavating trajectory on which the bucket of the excavator does not collide with the obstacle during movement and the excavating resistance is not greater than the excavating power of the excavator, adding the excavating point as a candidate excavating point to the candidate excavating point set, and adding the determined excavating trajectory as a candidate excavating trajectory to a candidate excavating trajectory set of the candidate excavating point.

4. The method according to claim 3 , wherein the acquiring a material volume of a candidate excavating point in the candidate excavating point set comprises:

for a candidate excavating point in the candidate excavating point set, calculating a material volume of the candidate excavating point based on parameters of a candidate excavating trajectory in the candidate excavating trajectory set of the candidate excavating point, wherein the parameters of the candidate excavating trajectory comprise an insertion depth, a dragging length, a rotation radius, and a lifting height.

5. The method according to claim 4 , wherein the calculating a material volume of the candidate excavating point based on parameters of a candidate excavating trajectory in the candidate excavating trajectory set of the candidate excavating point comprises:

for a candidate excavating trajectory in the candidate excavating trajectory set of the candidate excavating point, calculating a material volume corresponding to the candidate excavating trajectory based on a width of the bucket of the excavator, and the insertion depth and dragging length of the parameters of the candidate excavating trajectory; and

determining a material volume of the candidate excavating point based on the material volume corresponding to the candidate excavating trajectory in the candidate excavating trajectory set of the candidate excavating point.

6. The method according to claim 1 , wherein the discretizing the height map is implemented by contour line discretization.

7. An apparatus for selecting a target excavating point, comprising:

at least one processor; and

a memory storing instructions, the instructions when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising:

acquiring a height map of a material pile;

discretizing the height map to obtain an excavating point set;

acquiring an excavating trajectory set of an excavating point in the excavating point set; and

selecting a target excavating point based on the excavating trajectory set of the excavating point in the excavating point set.

8. The apparatus according to claim 7 , wherein the selecting a target excavating point based on the excavating trajectory set of the excavating point in the excavating point set comprises:

selecting a candidate excavating point set based on the excavating trajectory set of the excavating point in the excavating point set;

acquiring a material volume of a candidate excavating point in the candidate excavating point set; and

selecting a target excavating point based on the material volume of the candidate excavating point in the candidate excavating point set.

9. The apparatus according to claim 8 , wherein the selecting a candidate excavating point set based on the excavating trajectory set of the excavating point in the excavating point set comprises:

determining, for an excavating point in the excavating point set, whether the excavating trajectory set of the excavating point comprises an excavating trajectory on which a bucket of an excavator does not collide with an obstacle during movement and an excavating resistance is not greater than an excavating power of the excavator; and

adding, in response to determining that the excavating trajectory set of the excavating point comprises the excavating trajectory on which the bucket of the excavator does not collide with the obstacle during movement and the excavating resistance is not greater than the excavating power of the excavator, the excavating point as a candidate excavating point to the candidate excavating point set, and add the determined excavating trajectory as a candidate excavating trajectory to a candidate excavating trajectory set of the candidate excavating point.

10. The apparatus according to claim 9 , wherein the acquiring a material volume of a candidate excavating point in the candidate excavating point set comprises:

calculating, for a candidate excavating point in the candidate excavating point set, a material volume of the candidate excavating point based on parameters of a candidate excavating trajectory in the candidate excavating trajectory set of the candidate excavating point, wherein the parameters of the candidate excavating trajectory comprise an insertion depth, a dragging length, a rotation radius, and a lifting height.

11. The apparatus according to claim 10 , wherein the calculating a material volume of the candidate excavating point based on parameters of a candidate excavating trajectory in the candidate excavating trajectory set of the candidate excavating point comprises:

calculating, for a candidate excavating trajectory in the candidate excavating trajectory set of the candidate excavating point, a material volume corresponding to the candidate excavating trajectory based on a width of the bucket of the excavator, and the insertion depth and dragging length of the parameters of the candidate excavating trajectory; and

determining a material volume of the candidate excavating point based on the material volume corresponding to the candidate excavating trajectory in the candidate excavating trajectory set of the candidate excavating point.

12. The apparatus according to claim 7 , wherein the discretizing the height map is implemented by contour line discretization.

13. A non-transitory computer readable medium storing a computer program, wherein the computer program, when executed by a processor, causes the processor to perform operations, the operations comprising:

acquiring a height map of a material pile;

discretizing the height map to obtain an excavating point set;

acquiring an excavating trajectory set of an excavating point in the excavating point set; and

selecting a target excavating point based on the excavating trajectory set of the excavating point in the excavating point set.