A method for updating the retaining wall map of the dump site for automatic driving in open-pit mines

Abstract

The present disclosure provides a method for updating a dump retaining wall map applied to automatic driving in an open-pit mine, including: waiting for the receiving truck dispatching system to issue an update instruction for the dump retaining wall; if receiving the update instruction for the dump retaining wall , then dispatch the forklift to repair the terrain of the area of ​​the retaining wall of the dump site to be updated; when receiving the signal that the repair of the retaining wall is completed, dispatch the mining card to collect the point cloud data of the area of ​​the retaining wall of the dump site after repair; when receiving the laser After the point cloud data, the update vector of the dump retaining wall is calculated; when the update vector update completion message of the dump retaining wall is obtained, the update vector of the dump retaining wall is used to fuse and update the high-precision map of the dump retaining wall. The disclosure realizes the high-precision automatic extraction of the update vector of the update area of ​​the retaining wall of the dump site, and greatly improves the safety and efficiency of automatic driving in the open-pit mine scene.

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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