Dump retaining wall map updating method applied to open pit mine automatic driving

Abstract

The invention provides a dump retaining wall map updating method applied to open pit mine automatic driving. The dump retaining wall map updating method comprises the steps that a dump retaining wallupdating instruction sent by a truck dispatching system is waited to be received; if the dump retaining wall updating instruction is received, a forklift is dispatched to trim the terrain of a to-be-updated dump retaining wall area; when a retaining wall finishing signal is received, a mine truckis dispatched to collect point cloud data of a retaining wall area of the dump after finishing; after receiving the laser point cloud data uploaded by the mine truck, a dump retaining wall updating vector is calculated; and after a dump retaining wall updating vector updating completion message is obtained, the dump retaining wall high-precision map is fused and updated by adopting the dump retaining wall updating vector. High-precision automatic extraction of the updatingvector of the updatingareaof the dump retaining wall is realized, and the safety and the efficiency of automatic driving in an open pit mine scene are greatly improved.

Description

technical field [0001] The present disclosure relates to the field of automatic driving, in particular to a method for updating a retaining wall map of a dump site applied to automatic driving in an open-pit mine. Background technique [0002] Due to its relatively closed and open environment, open-pit mines are one of the best choices for the implementation of autonomous driving technology. The key technologies of autonomous driving involve environmental perception, high-precision positioning, decision-making and planning, and execution control. Among them, high-precision Due to its high precision, high granularity, and real-time characteristics, maps can perform functions such as high-precision positioning, auxiliary perception, planning, and decision-making in autonomous driving, ensuring efficient and accurate path planning and safe driving. [0003] Different from the high-precision maps of traditional urban areas, the geographical elements of open-pit mines have been i...

AI Technical Summary

Problems solved by technology

For example, some existing high-precision map drawing and update methods are based on high-precision trajectory data combined with pure image data to measure and draw lane lines, but this method is difficult to apply to mine roads without lane line signs; or based on highway passenger vehicles discovering and requesting updates High-precision maps, but this method is difficult to apply to the positioning and path planning requirements of open areas in open-pit mining areas where the update frequency reaches minutes or even seconds

Therefore, it is difficult for the existing methods to meet the high-precision and high-efficiency automatic update requirements for the automatic driving of open-pit mines. Automatic update method of high-precision map of soil field retaining wall

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