Topographic data updating method and device and electronic equipment

Abstract

The invention discloses a topographic data updating method, a topographic data updating device and electronic equipment. The method comprises the following steps: receiving initial topographic data of an operation scene of the transportation equipment and map boundary data of an operation area of the transportation equipment in the operation scene; based on the initial topographic data and the map boundary data, determining a work attention area; in response to running of the transportation equipment in the operation area, scanning the operation attention area through a sensing system of the transportation equipment to obtain current topographic data of the operation attention area; based on the current topographic data and the initial topographic data, determining a topographic change region in the work attention region; and controlling the transportation equipment to carry out topographic data acquisition on the region with the topographic change, and updating the initial topographic data of the work attention region and the map boundary data of the work region based on the acquired topographic data. According to the invention, the technical problem of poor freshness and precision of map updating of the mine operation scene is solved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a method, device and electronic device for updating terrain data. Background Art

[0002] At present, the terrain changes frequently and rapidly in open-pit mining operation scenes, the vehicle level changes in loading and unloading scenes, and the terrain changes such as falling rocks and falling soil are difficult to be discovered and recorded in time by on-site personnel, posing a challenge to the freshness of high-precision maps.

[0003] In related technologies, terrain change data of mining operation scenes are usually obtained through manual on-site collection or regular drone scanning, which is costly and inefficient, and cannot meet the requirements of high-precision maps for freshness and accuracy.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a method, device and electronic device for updating terrain data, so as to at least solve the technical problem of poor freshness and accuracy of map updates in mining operation scenes.

[0006] According to one aspect of an embodiment of the present invention, a method for updating terrain data is provided. The method includes: receiving initial terrain data of an operation scene of a transport device, and map boundary data of an operation area corresponding to the transport device in the operation scene, wherein the initial terrain data is used to represent the terrain features of the operation scene, and the map boundary data is used to represent the operation range of the transport device in the operation scene; determining an operation focus area based on the initial terrain data of the operation scene and the map boundary data of the operation area, wherein the operation focus area at least includes the operation area and an area whose distance from the boundary of the operation area is within a distance threshold range; in response to the transport device driving in the operation area, scanning the operation focus area through a perception system of the transport device to obtain current terrain data of the operation focus area; determining an area in the operation focus area where terrain changes occur based on the current terrain data of the operation focus area and the initial terrain data of the operation focus area; controlling the transport device to collect terrain data for the area where terrain changes occur, and updating the initial terrain data of the operation focus area based on the collected terrain data, and updating the map boundary data of the operation area.

[0007] Optionally, based on the current terrain data of the operation focus area and the initial terrain data of the operation focus area, determining the area within the operation focus area where the terrain changes occur, including: based on the rasterization origin and the rasterization threshold, rasterizing the current terrain data of the operation focus area and the initial terrain data of the operation focus area respectively to obtain the rasterized current terrain data and the rasterized initial terrain data, wherein the rasterization origin is used to indicate the starting position of the rasterization of the initial terrain data and the current terrain data, and the rasterization threshold is used to indicate the side length of the raster; based on the elevation feature value corresponding to each grid in the rasterized current terrain data and the elevation feature value corresponding to each grid in the rasterized initial terrain data, determining the area within the operation focus area where the terrain changes occur, wherein the elevation feature value is used to at least indicate the terrain change of the area corresponding to each grid in the operation area.

[0008] Optionally, based on a preset rasterization origin and a rasterization threshold, the current terrain data of the operation focus area and the initial terrain data of the operation focus area are rasterized respectively to obtain the rasterized current terrain data and the initial terrain data, including: based on the rasterization origin and the rasterization threshold, the operation focus area is divided into multiple grids, wherein each grid covers an area of ​​a fixed size in the operation focus area; determining the grid to which each elevation point in the current terrain data belongs, and mapping the position coordinates and elevation characteristic values ​​corresponding to each elevation point in the current terrain data to the corresponding grid to obtain the rasterized current terrain data, and determining the grid to which each elevation point in the initial terrain data belongs, and mapping the position coordinates and elevation characteristic values ​​corresponding to each elevation point in the initial terrain data to the corresponding grid to obtain the rasterized initial terrain data.

[0009] Optionally, the elevation characteristic value includes at least: a maximum elevation characteristic value, a minimum elevation characteristic value and an average elevation characteristic value, wherein the maximum elevation characteristic value corresponding to each grid is used to represent the highest point of the terrain of the area corresponding to the grid in the operation focus area, the minimum elevation characteristic value corresponding to each grid is used to represent the lowest point of the terrain of the area corresponding to the grid in the operation focus area, and the average elevation characteristic value corresponding to each grid is used to represent the average height of the area corresponding to the grid in the operation focus area; based on the elevation characteristic value corresponding to each grid in the current terrain data after rasterization and the elevation characteristic value corresponding to each grid in the initial terrain data after rasterization, the area where the terrain change occurs in the operation focus area is determined, The method comprises: performing differential processing on the elevation characteristic value corresponding to the target grid in the rasterized current terrain data and the elevation characteristic value of the grid corresponding to the target grid in the rasterized initial terrain data to obtain a differential result, wherein the target grid is any one of the multiple grids, and the differential result is used to at least represent the degree of change of the highest point, the lowest point and the average height of the terrain of the target area corresponding to the target grid in the operation focus area; determining based on the differential result that the degree of change of any one of the highest point, the lowest point and the average height of the terrain of the area corresponding to the target grid in the operation focus area is greater than a preset threshold, and determining the target area as an area where terrain changes occur in the operation focus area.

[0010] Optionally, the initial terrain data is composed of a series of elevation points with regular rows and columns, and each elevation point corresponds to position information. Based on the initial terrain data of the work scene and the map boundary data of the work area, the work focus area is determined, including: based on the position information of each elevation point in the initial terrain data, the position of each elevation point in the initial terrain data is determined in the reference coordinate system; based on the map boundary data of the work area, the curve corresponding to the boundary of the work area is determined in the reference coordinate system; the area within the curve range and outside the curve range, and the distance between the area and the curve is within the distance threshold range, is determined as the work focus area.

[0011] Optionally, the method for updating the terrain data of the work scene also includes: extracting a first elevation point in the initial terrain data that is within the curve range, and a second elevation point that is outside the curve range and whose distance to the curve is within a distance threshold range; based on the first elevation point and the second elevation point, constructing the initial terrain data of the work focus area.

[0012] Optionally, updating the initial terrain data of the operation focus area and updating the map boundary data of the operation area based on the collected terrain data includes: sending the collected terrain data of the area where the terrain changes occur to the cloud, wherein the terrain data is used to enable the cloud to update the initial terrain data of the operation focus area and update the map boundary data of the operation area; receiving the updated initial terrain data of the operation focus area and the updated map boundary data of the operation area from the cloud.

[0013] Optionally, the method for updating the terrain data of the operation scene further includes: in response to an area in the operation focus area where terrain changes occur again, continuing to update the initial terrain data of the operation focus area and the updated map boundary data of the operation area.

[0014] Optionally, the transport equipment is used to indicate at least one of a mining transport vehicle, a mining excavation equipment, a mining loading equipment, and a mining bulldozer equipment.

[0015] According to another aspect of an embodiment of the present invention, a device for updating terrain data is also provided. The device includes: a receiving unit, configured to receive initial terrain data of an operation scene of a transport device, and map boundary data of an operation area of ​​the transport device in the operation scene, wherein the initial terrain data is used to represent the terrain features of the operation scene, and the map boundary data is used to at least represent the operation range of the transport device in the operation scene; a first determining unit, configured to determine an operation focus area based on the initial terrain data of the operation scene and the map boundary data of the operation area, wherein the operation focus area at least includes the operation area and an area whose distance from the boundary of the operation area is within a distance threshold range; a scanning unit, configured to scan the operation focus area through a perception system of the transport device in response to the transport device traveling in the operation area, and obtain current terrain data of the operation focus area; a second determining unit, configured to determine an area in the operation focus area where terrain changes occur based on the current terrain data of the operation focus area and the initial terrain data of the operation focus area; and a control unit, configured to control the transport device to collect terrain data for the area where terrain changes occur, and to update the initial terrain data of the operation focus area based on the collected terrain data, and to update the map boundary data of the operation area.

[0016] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0017] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0018] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0019] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0020] According to another aspect of the embodiments of the present invention, a computer program is further provided. When the computer program is executed by a processor, the methods in the embodiments of the present invention are implemented.

[0021] In an embodiment of the present invention, after obtaining the initial terrain data of the operation scene of the transport equipment and the map boundary data of the operation area corresponding to the transport equipment in the operation scene, the operation focus area in the operation scene can be further determined, wherein the operation focus area includes the operation area of ​​the transport equipment and the area whose distance from the boundary of the operation area is within the distance threshold range. Since the terrain is a continuum, changes in the operation area may affect its adjacent areas, and vice versa. Therefore, taking the operation area and the area adjacent to the operation area as the operation focus area can ensure that sufficient information is obtained when the terrain data of the operation area is subsequently obtained. Afterwards, in response to the transport vehicle driving in the operation area, the operation focus area is scanned in real time by the perception system of the transport equipment to obtain the current terrain data of the operation focus area. By comparing the current terrain data of the operation focus area with the initial terrain data, the area where the terrain changes in the operation focus area is determined. After determining the area where the terrain changes, the transport equipment is controlled to collect the terrain data of the area, and the initial terrain data of the operation focus area and the map boundary data of the operation area are updated. That is to say, in an embodiment of the present invention, during the operation of the transportation equipment, the terrain data of the operation focus area can be collected in real time, and when the terrain data of the operation focus area is detected to have changed, the terrain data of the operation focus area and the map boundary data of the operation area can be updated in time, so as to achieve rapid response and efficient update of terrain changes in the operation focus area, maintain the freshness and accuracy of the map of the operation area, and provide a reliable map basis for the continuous operation of the transportation equipment, thereby solving the technical problem of poor freshness and accuracy of map data updates in mining operation scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0023] Figure 1 is a flow chart of a method for updating terrain data according to an embodiment of the present invention;

[0024] Figure 2 is a schematic diagram of initial terrain data of a work scene according to an embodiment of the present invention;

[0025] Figure 3 is a schematic diagram of a map boundary in initial terrain data according to an embodiment of the present invention;

[0026] Figure 4 is a schematic diagram of terrain data after rasterization processing according to an embodiment of the present invention;

[0027] Figure 5 is a schematic diagram of raster reference data according to an embodiment of the present invention;

[0028] Figure 6 is a flow chart of a terrain data updating method based on an unmanned mining truck according to an embodiment of the present invention;

[0029] Figure 7 4 is a schematic diagram of a device for updating terrain data according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Example 1

[0033] According to an embodiment of the present invention, an embodiment of a method for updating terrain data is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0034] Figure 1 is a flow chart of a method for updating terrain data according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0035] Step S101, receiving initial terrain data of an operation scene of the transport equipment and map boundary data of an operation area corresponding to the transport equipment in the operation scene.

[0036] In the technical solution provided in the above step S101 of the present application, the initial terrain data may be a series of elevation points with regular rows and columns, and the initial terrain data is used to represent the initial terrain features of the operation scene of the transportation equipment. The map boundary data is used to represent the operation range of the transportation equipment in the operation scene. Among them, the operation scene may be an open-pit mine operation scene, and the transportation equipment is at least one of a mining transport vehicle, a mining excavation equipment, a mining loading equipment, and a mining bulldozer.

[0037] In this embodiment, the cloud stores initial terrain data of the operating scene of the transportation equipment and map boundary data of the operating area corresponding to the transportation equipment in the operating scene. Based on this, the cloud can send the initial terrain data of the operating scene of the transportation equipment and map boundary data of the operating area corresponding to the transportation equipment in the operating scene to the transportation equipment. Based on this, the transportation equipment can receive the initial terrain data of the operating scene and map boundary data of the operating area.

[0038] In this step, the initial terrain data of the work scene and the map boundary data of the working area of ​​the transportation equipment in the work scene serve as the basis for updating the terrain data and map boundaries. Afterwards, the terrain change data perceived in real time by the transportation equipment during the operation process will be compared and integrated with these initial data to achieve dynamic updating of the high-precision map.

[0039] Step S102: determining the operation focus area based on the initial terrain data of the operation scene and the map boundary data of the operation area.

[0040] In the above step S102 of the present application, the operation focus area at least includes the operation area, and the area whose distance from the boundary of the operation area is within the distance threshold range, wherein the area whose distance from the boundary of the operation area is within the distance threshold range can also be called a buffer area. In the open-pit mine operation scene, rockfall or collapse may occur near the boundary of the operation area, affecting the operation of the transportation equipment near the boundary. Therefore, the area within a certain range outward from the boundary of the operation area is also determined as the operation focus area, so that the transportation equipment not only pays attention to the terrain changes in the operation area, but also monitors the terrain changes near the boundary in real time, and then reasonably adjusts the map boundary of the operation area to improve the operation safety of the transportation vehicle in the operation area.

[0041] In this embodiment, since the initial terrain data of the work scene is usually a series of elevation points with regular rows and columns, and the initial terrain data is used to represent the terrain features of the entire work scene, and the map boundary data is used to define the working scope of the transport vehicle performing the work in the work scene, based on this, the terrain data of the working area and the buffer area can be filtered out from the initial terrain data according to the map boundary data of the working area corresponding to the transport equipment in the work scene, and the filtered terrain data is then used as the initial terrain data of the work focus area.

[0042] Optionally, Figure 2 is a schematic diagram of initial terrain data of a work scene according to an embodiment of the present invention, such as Figure 2 As shown, the initial terrain data of the work scene is a series of regular elevation points, where an elevation point is a geographic point with height information, and each elevation point is used to represent the surface height at a position in the work scene. The map boundary data of the work area can be vector data, which is used to describe the boundary of the work area. By parsing the map boundary data, the coordinate set of the boundary points can be obtained.

[0043] Optionally, Figure 3 is a schematic diagram of a map boundary in initial terrain data according to an embodiment of the present invention, such as Figure 3As shown, the positions of the boundary points of the map boundary data can be determined in the coordinate system corresponding to the initial terrain data, and then the areas within the map boundary and the areas outside the map boundary whose distance from the map boundary is within a distance threshold range can be determined as the operation focus area, and the initial terrain data corresponding to the operation focus area can be obtained from the initial terrain data.

[0044] In this step, based on the map boundary data of the operating area of ​​the transport vehicle, the operating focus area can be determined from the initial terrain data of the operating scene, and the initial terrain data corresponding to the operating focus area can be screened out from the initial terrain data to provide accurate terrain information for the transport equipment. This screening process helps to reduce the burden of subsequent data processing, so that subsequent transport vehicles can focus on the operating focus area closely related to the operation when scanning and updating terrain data.

[0045] Step S103, in response to the transportation equipment traveling in the operation area, the perception system of the transportation equipment scans the operation area of ​​interest to obtain current terrain data of the operation area of ​​interest.

[0046] In the technical solution provided in the above step S103 of the present application, after the operation focus area is determined through the above step S102, if the transport vehicle is traveling in the operation area, the perception system of the transport equipment can be controlled to scan the operation focus area, and then the current terrain data of the operation focus area can be obtained, wherein the current terrain data is used to represent the current terrain characteristics of the operation focus area.

[0047] In this embodiment, the current terrain features of the operation focus area can be obtained by scanning the operation focus area in real time through the perception system (e.g., sensor) on the vehicle. The terrain features may include various new terrain changes, such as fallen rocks, earth piles, potholes, etc., thereby providing a data basis for subsequent updating of the map boundaries of the operation area, ensuring the freshness and accuracy of map updates.

[0048] Step S104 , based on the current terrain data of the operation focus area and the initial terrain data of the operation focus area, determine the area where the terrain change occurs in the operation focus area.

[0049] In the technical solution provided in the above step S104 of the present application, after the current terrain data of the operation focus area is obtained through step S103, the current terrain data of the operation focus area can be compared with the initial terrain data of the operation focus area to determine the area where the terrain changes occur in the operation focus area.

[0050] In this embodiment, by comparing the current terrain data of the operation focus area with the initial terrain data, the area where the terrain changes occur in the operation focus area can be determined in time, providing a basis for subsequent map updates.

[0051] Step S105 , controlling the transport equipment to collect terrain data for the area where the terrain changes, and updating the initial terrain data of the operation focus area based on the collected terrain data, and updating the map boundary data of the operation area.

[0052] In the technical solution provided in the above step S105 of the present application, after the area where the terrain changes within the operation focus area is determined through step S104, the transportation equipment can be controlled to collect terrain data for the area where the terrain changes occur, and the initial terrain data of the operation focus area can be updated according to the collected terrain data, and the map boundary data of the operation area can be updated to maintain the freshness and accuracy of the terrain data and map data.

[0053] In this embodiment, after determining the area where the terrain changes in the operation focus area, the terrain data of the area where the terrain changes occur is collected, and the current terrain features of the area where the terrain changes occur can be accurately obtained. After collecting the terrain data of the area where the terrain changes occur, the terrain data of the area where the terrain changes occur can be used to update the initial terrain data of the operation focus area and the map boundary data of the operation area.

[0054] In the above steps S101 to S105, during the operation of the transportation equipment, the terrain data of the operation focus area can be collected in real time, and when the terrain data of the operation focus area is detected to have changed, the terrain data of the operation focus area and the map boundary data of the operation area are updated in time, so as to achieve rapid response and efficient update of terrain changes in the operation focus area, maintain the freshness and accuracy of the map of the operation area, and provide a reliable map basis for the continuous operation of the transportation equipment, thereby solving the technical problem of poor freshness and accuracy of map data updates in mining operation scenarios.

[0055] Next, the updating method of the terrain data is further introduced.

[0056] As an optional implementation, step S104, based on the current terrain data of the operation focus area and the initial terrain data of the operation focus area, determines the area where the terrain changes occur in the operation focus area, including: based on the rasterization origin and the rasterization threshold, rasterizing the current terrain data of the operation focus area and the initial terrain data of the operation focus area respectively to obtain the rasterized current terrain data and the rasterized initial terrain data, wherein the rasterization origin is used to indicate the starting position of the rasterization of the initial terrain data and the current terrain data, and the rasterization threshold is used to indicate the side length of the raster; based on the elevation feature value corresponding to each grid in the rasterized current terrain data and the elevation feature value corresponding to each grid in the rasterized initial terrain data, determines the area where the terrain changes occur in the operation focus area, wherein the elevation feature value is used to at least indicate the terrain change of the area corresponding to each grid in the operation area.

[0057] In this embodiment, when determining the area where terrain changes occur in the operation focus area based on the current terrain data and the initial terrain data of the operation focus area, the current terrain data and the initial terrain data can be rasterized respectively to convert the continuous terrain data into a discrete data structure that is easy to process and compare.

[0058] Optionally, a rasterization origin and a rasterization threshold are determined in advance, and then the current terrain data of the operation focus area and the initial terrain data of the operation focus area are rasterized based on the rasterization origin and the rasterization threshold, so as to divide the current terrain data and the initial terrain data into multiple raster data structures, respectively, wherein each raster data structure includes the elevation characteristic value of the area corresponding to the raster in the operation scene.

[0059] Optionally, Figure 4 is a schematic diagram of terrain data after rasterization processing according to an embodiment of the present invention. Figure 4 As shown, the origin is used to represent the rasterization origin, and R is used to represent the rasterization threshold, where R can be 2.5m. This is only an example and does not limit the specific data of the rasterization threshold. After the current terrain data and the initial terrain data of the operation focus area are rasterized, the terrain data can be divided into smaller data structures. In this way, when determining whether the terrain changes in the operation focus area later, only the elevation values ​​corresponding to each grid in the current terrain data and the elevation values ​​of the corresponding grids in the initial terrain data need to be compared to quickly determine whether the terrain changes in the operation focus area occur.

[0060] Optionally, if the elevation value corresponding to the grid in the current terrain data is the same as the elevation value corresponding to the corresponding grid in the initial terrain data, it means that the area corresponding to the grid in the operation focus area has not undergone terrain changes. Conversely, if the elevation value corresponding to the grid in the current terrain data is different from the elevation value corresponding to the corresponding grid in the initial terrain data, it means that the area corresponding to the grid in the operation focus area has undergone terrain changes. In the case of terrain changes, the current terrain data of the area where the terrain changes can be used to update the initial terrain data corresponding to the area.

[0061] As an optional implementation, based on a preset rasterization origin and a rasterization threshold, the current terrain data of the operation focus area and the initial terrain data of the operation focus area are rasterized respectively to obtain the rasterized current terrain data and the initial terrain data, including: based on the rasterization origin and the rasterization threshold, the operation focus area is divided into multiple grids, wherein each grid covers an area of ​​a fixed size in the operation focus area; determining the grid to which each elevation point in the current terrain data belongs, and mapping the position coordinates and elevation feature values ​​corresponding to each elevation point in the current terrain data to the grid to which it belongs, to obtain the rasterized current terrain data, and determining the grid to which each elevation point in the initial terrain data belongs, and mapping the position coordinates and elevation feature values ​​corresponding to each elevation point in the initial terrain data to the grid to which it belongs, to obtain the rasterized initial terrain data.

[0062] In this embodiment, when rasterizing the current terrain data and the initial terrain data, the operation area may be first divided into many small square or rectangular grids, each grid representing a "grid". The advantage of rasterization is that the terrain data can be simplified into grid data, which is convenient for subsequent processing.

[0063] Optionally, after rasterizing the work focus area, the current terrain data can be mapped to each grid according to the position coordinates of each elevation point in the current terrain data of the work focus area, and the initial terrain data can be mapped to each grid according to the position coordinates of each elevation point in the initial terrain data, so as to obtain the rasterized current terrain data and the rasterized initial terrain data, and use the rasterized current terrain data and the rasterized initial terrain data as raster reference data.

[0064] Optionally, Figure 5 is a schematic diagram of a grid reference data according to an embodiment of the present invention. Figure 5 As shown, the rasterized terrain data of the job's focus area and the center point of each grid are displayed.

[0065] Optionally, after obtaining the current terrain data after rasterization and the initial terrain data after rasterization, the elevation characteristic value in each grid in the current terrain data after rasterization and the elevation characteristic value in each grid in the initial terrain data after rasterization can be further determined, and then the elevation characteristic values ​​of each grid can be compared to determine whether the area corresponding to each grid has a terrain change. Since the amount of data corresponding to a single grid is small, based on this, after the terrain data is rasterized, the terrain data is compared in units of each grid, which can greatly improve the data processing efficiency.

[0066] As an optional implementation, the elevation characteristic value at least includes: a maximum elevation characteristic value, a minimum elevation characteristic value and an average elevation characteristic value, wherein the maximum elevation characteristic value corresponding to each grid is used to represent the highest point of the terrain of the area corresponding to the grid in the work focus area, the minimum elevation characteristic value corresponding to each grid is used to represent the lowest point of the terrain of the area corresponding to the grid in the work focus area, and the average elevation characteristic value corresponding to each grid is used to represent the average height of the area corresponding to the grid in the work focus area; based on the elevation characteristic value corresponding to each grid in the current terrain data after rasterization, and the elevation characteristic value corresponding to each grid in the initial terrain data after rasterization, it is determined that the terrain changes have occurred in the work focus area. The method comprises: performing differential processing on the elevation characteristic value corresponding to the target grid in the rasterized current terrain data and the elevation characteristic value of the grid corresponding to the target grid in the rasterized initial terrain data to obtain a differential result, wherein the target grid is any one of the multiple grids, and the differential result is used to at least represent the degree of change of the highest point, the lowest point and the average height of the terrain in the area corresponding to the target grid in the operation focus area; determining based on the differential result that the degree of change of any one of the highest point, the lowest point and the average height of the terrain in the target area corresponding to the target grid in the operation focus area is greater than a preset threshold, and determining the target area as an area where terrain changes occur in the operation focus area.

[0067] In this embodiment, the elevation characteristic values ​​of the grid include at least: a maximum elevation characteristic value, a minimum elevation characteristic value and an average elevation characteristic value. Based on this, when determining the area where terrain changes occur in the operation focus area based on the elevation characteristic values ​​corresponding to each grid in the current terrain data after rasterization and the elevation characteristic values ​​corresponding to each grid in the initial terrain data after rasterization, the maximum elevation characteristic value, the minimum elevation characteristic value and the average elevation characteristic value corresponding to the target grid in the current terrain data after rasterization can be differentially processed with the maximum elevation characteristic value, the minimum elevation characteristic value and the average elevation characteristic value of the grid corresponding to the target grid in the initial terrain data after rasterization to obtain a differential result.

[0068] Optionally, if the differential result shows that the difference between the maximum elevation value of the target grid in the current terrain data and the maximum elevation characteristic value of the grid corresponding to the target grid in the initial terrain data is greater than a preset threshold, the target area corresponding to the target grid in the operation focus area is determined as the area where terrain changes occur in the operation focus area.

[0069] Optionally, if the differential result shows that the difference between the minimum elevation value of the target grid in the current terrain data and the minimum elevation feature value of the grid corresponding to the target grid in the initial terrain data is greater than a preset threshold, the target area corresponding to the target grid in the operation focus area is determined as the area where terrain changes occur in the operation focus area.

[0070] Optionally, if the differential result shows that the difference between the average elevation characteristic value of the target grid in the current terrain data and the average elevation characteristic value of the grid corresponding to the target grid in the initial terrain data is greater than a preset threshold, the target area corresponding to the target grid in the operation focus area is determined as the area where terrain changes occur in the operation focus area.

[0071] In the above steps, terrain changes can be detected immediately by comparing the current terrain data perceived by the vehicle with the initial terrain data stored in the cloud in real time. This instant differential processing mechanism ensures that terrain changes can be quickly identified, avoiding vehicle misjudgment and potential safety risks caused by delayed terrain information updates. At the same time, by comparing the maximum elevation value, the minimum elevation value, and the average elevation value, terrain changes can be captured from multiple dimensions, improving the accuracy and reliability of judgment.

[0072] As an optional implementation, the initial terrain data is composed of a series of elevation points with regular rows and columns, and each elevation point corresponds to position information. Based on the initial terrain data of the work scene and the map boundary data of the work area, the work focus area is determined, including: based on the position information of each elevation point in the initial terrain data, the position of each elevation point in the initial terrain data is determined in the reference coordinate system; based on the map boundary data of the work area, the curve corresponding to the boundary of the work area is determined in the reference coordinate system; the area within the curve range and outside the curve range, and the distance between the curve and the curve is within the distance threshold range, is determined as the work focus area.

[0073] In this embodiment, creating and maintaining the work area of ​​interest is one of the key steps to ensure the freshness and accuracy of the high-precision map. Since the initial terrain data consists of a series of elevation points with regular rows and columns, each elevation point contains specific location information, such as longitude and latitude coordinates, altitude, etc. First, it is necessary to determine the exact position of these elevation points in the reference coordinate system. The reference coordinate system usually adopts a geodetic coordinate system or a local coordinate system dedicated to the mine to ensure the accurate match of the terrain data with the map. By converting the coordinate information of each elevation point into the reference coordinate system, it can be ensured that all terrain data is analyzed and processed under a unified coordinate framework.

[0074] Optionally, the map boundary data of the operation area, i.e., the vector map boundary data, defines the geographical scope of the mine unmanned operation. Based on these boundary data, a boundary curve that specifically represents the scope can be determined in the reference coordinate system. This step helps to clarify which terrain data is directly related to the unmanned operation, thereby avoiding unnecessary monitoring and collection of terrain changes outside the operation area, saving computing resources and data transmission costs.

[0075] Optionally, the operation focus area refers to the area inside and outside the boundary curve of the operation area, but the distance from the curve does not exceed a specific threshold. This distance threshold, also known as the buffer range, is set according to the complexity and safety requirements of the mining environment. For example, the distance threshold may be set to a few meters to more than ten meters, which is not specifically limited here. The purpose of defining the operation focus area is to capture terrain changes that may affect the safety and efficiency of unmanned operations, even if these changes occur outside the boundaries of the operation area.

[0076] Optionally, when identifying the operation focus area, the system will check the distance between each elevation point and the boundary curve of the operation area. If the distance is less than or equal to the set buffer range, the point is included in the operation focus area. For any terrain change point in the operation focus area, the perception system of the transportation equipment will collect data in real time and upload it to the cloud for high-precision map updates, ensuring that all unmanned mining vehicles can operate safely and efficiently based on the latest terrain information.

[0077] In this step, by identifying the operating area and the area within the moving buffer range of the operating area as the operating focus area, it is ensured that any terrain changes that may threaten the unmanned operation will be discovered and handled in a timely manner, thereby improving the reliability and economy of the overall operation.

[0078] As an optional implementation, the method for updating terrain data also includes: extracting a first elevation point within the curve range in the initial terrain data, and a second elevation point outside the curve range and whose distance to the curve is within a distance threshold range; based on the first elevation point and the second elevation point, constructing initial terrain data of the work focus area.

[0079] In this embodiment, if Figure 3 As shown, the first elevation point is used to refer to the elevation points within the curve range, and the second elevation point is used to refer to the elevation points outside the curve range.

[0080] Optionally, after determining the map boundary corresponding to the work area from the initial terrain data, terrain data within the map boundary and terrain data outside the map boundary whose distance to the map boundary is within a distance threshold range can be extracted from the initial terrain data, and the extracted terrain data can be used as terrain data for the work focus area.

[0081] As an optional implementation, step S105, based on the collected terrain data, updates the initial terrain data of the operation focus area and updates the map boundary data of the operation area, including: sending the collected terrain data of the area where the terrain changes occur to the cloud, wherein the terrain data is used to enable the cloud to update the initial terrain data of the operation focus area and update the map boundary data of the operation area; receiving the updated initial terrain data of the operation focus area and the updated map boundary data of the operation area from the cloud.

[0082] In this embodiment, after collecting terrain data of the area where terrain changes occur, the collected terrain data can be sent to the cloud. After receiving the terrain data, the cloud can automatically fuse the terrain data with the initial terrain data corresponding to the operation focus area, thereby achieving the purpose of updating the initial terrain data of the operation focus area.

[0083] Optionally, after receiving the terrain data of the area where the terrain changes occur, the cloud can also synchronously update the map boundary data of the operation area according to the terrain data to maintain the freshness and accuracy of the map of the operation area.

[0084] Optionally, the cloud can receive terrain data sent by multiple transportation equipment with which communication connections are established. Based on this, the cloud can integrate the terrain data from different transportation equipment to update the terrain data and map data, thereby achieving the purpose of crowdsourcing terrain updates.

[0085] Optionally, after updating the initial terrain data of the operation focus area and the map boundary data of the operation area, the cloud can send the updated initial terrain data of the operation focus area and the map boundary data of the operation area to the transportation equipment. The transportation equipment can receive the updated initial terrain data of the operation focus area and the updated map boundary data of the operation area from the cloud, so as to travel according to the updated map boundary data and ensure the operation safety of the transportation equipment.

[0086] As an optional implementation, the method for updating terrain data further includes: in response to an area in the operation focus area where terrain changes occur again, continuing to update the initial terrain data of the updated operation focus area and the map boundary data of the updated operation area.

[0087] In this embodiment, the terrain of the mining operation scene changes frequently. For example, falling rocks and soil often occur during transportation, which will cause changes in the terrain of the mining operation scene. Based on this, after the terrain data of the operation focus area in the mining operation scene and the map boundary data of the operation area are updated, if there is an area in the operation focus area where the terrain changes again, the initial terrain data of the updated operation focus area and the map boundary data of the updated operation area will continue to be updated to maintain the freshness and accuracy of the terrain data and map data.

[0088] Optionally, the method for updating terrain data in the embodiment of the present invention can be applied to open-pit mine operation scenarios, that is, the unmanned mining trucks in the open-pit mine operation scenarios can be used to collect terrain data of the operating area and the buffer area adjacent to the operating area in real time, and compare the data with the previous terrain data in real time. When the terrain changes are found, the terrain data of the operating area and the buffer area are updated in time, and the map boundary data of the operating area is updated in real time according to the terrain changes at the boundary of the operating area, so as to maintain the freshness and accuracy of the terrain data and map data of the operating area and its adjacent areas.

[0089] The technical solution of the embodiment of the present invention is illustrated below in conjunction with preferred implementation modes.

[0090] Due to the rapid changes in open-pit mining operation scenes, the loading and unloading scenes change at the vehicle level, and there are falling rocks and soil during the transportation of unmanned mining trucks. These changes are difficult to be discovered by on-site personnel. Even if the changes are discovered, it will take a certain amount of time and cost to send a vehicle to collect them, which cannot meet the requirements of high-precision maps for freshness and accuracy. Therefore, efficiently and cost-effectively discovering terrain changes and collecting data to update maps is a key issue to ensure the freshness and accuracy of high-precision maps.

[0091] In order to solve the above technical problems, the embodiment of the present invention proposes a terrain data updating method based on unmanned mining trucks. Figure 6 is a flow chart of a terrain data updating method based on an unmanned mining card according to an embodiment of the present invention. Figure 6 As shown, the method comprises the following steps:

[0092] Step S601, receiving high-precision terrain data of the operation scene and the vector map boundary of the operation area.

[0093] In this embodiment, the unmanned mining truck can receive high-precision terrain data of the operation scene sent from the cloud, as well as the vector map boundary of the operation area. The high-precision terrain data is a series of elevation points with regular rows and columns, which can be used as the initial data for terrain update. The vector map boundary is used to define the operation range of the unmanned mining truck and to filter the terrain data of the unmanned operation area.

[0094] Step S602: Generate terrain reference data based on the high-precision terrain data and the vector map boundary of the operation area.

[0095] In this embodiment, according to the vector map boundary of the operating area in step S601 above, the terrain data within the unmanned driving operating area and the terrain data within a certain buffer range from the unmanned driving area are filtered out from the high-precision terrain data. The unmanned mining truck only needs to update the vector map boundary and the terrain data within a certain buffer range outward.

[0096] Optionally, in order to reduce the number of terrain data points sent to the unmanned vehicle, the filtered terrain data points need to be rasterized. For example, the terrain data is rasterized according to a certain threshold (R = 2.5m, which can be adjusted) to obtain the following: Figure 5 The terrain data after rasterization is shown. At the same time, the coordinates of the center point of the terrain grid and the elevation characteristic values ​​(such as the maximum, minimum, and average values ​​of the elevation) are calculated, and the calculated grid reference data is sent to the unmanned mining card.

[0097] Step S603, sensing terrain changes during the driving of the unmanned mining truck.

[0098] In this step, the unmanned mining truck scans the point cloud information of the surrounding environment in real time while driving, and maps and rasterizes the acquired point cloud to generate high-precision map terrain data.

[0099] Optionally, the unmanned mining truck obtains the terrain reference data issued in step S602, and generates rasterized perceived terrain data according to the rasterization rules of the terrain reference data through the perceived terrain mapping results. The differential algorithm is used to calculate whether there is a change between the real-time perceived terrain and the terrain reference data. When one of the differential results of the maximum, minimum, and average elevations exceeds a threshold, step S604 is triggered.

[0100] Step S604, collecting terrain data of the terrain change area and updating the map data.

[0101] In this embodiment, when a grid with terrain changes is detected in step S603, the collection function of the unmanned mining truck is triggered, the terrain change area is automatically collected, and the terrain data of the collected terrain change area is uploaded to the cloud. After the cloud receives the collected terrain data, it is automatically integrated and updated into the terrain data in step S601, and the vector map boundary is updated synchronously; after the execution is completed, step S601 is synchronously executed based on the latest terrain data to form a terrain update closed loop.

[0102] In the above steps S601 to S604, the unmanned mining truck can automatically detect terrain changes, collect and update terrain, and complete the closed loop of high-precision terrain and map updates.

[0103] According to an embodiment of the present invention, a terrain data updating device is also provided. It should be noted that the terrain data updating device can be used to execute the terrain data updating method in the embodiment of the present invention.

[0104] Figure 7 Schematic diagram of a terrain data updating device according to an embodiment of the present invention. The terrain data updating device 700 comprises: a receiving unit 701 , a first determining unit 702 , a scanning unit 703 , a second determining unit 704 and a control unit 705 .

[0105] The receiving unit 701 is used to receive initial terrain data of an operation scene of the transport equipment and map boundary data of an operation area of ​​the transport equipment in the operation scene, wherein the initial terrain data is used to represent the terrain features of the operation scene, and the map boundary data is used to represent at least the operation range of the transport equipment in the operation scene;

[0106] A first determining unit 702 is configured to determine an operation focus area based on initial terrain data of the operation scene and map boundary data of the operation area, wherein the operation focus area at least includes the operation area and an area whose distance to the boundary of the operation area is within a distance threshold range;

[0107] The scanning unit 703 is used for scanning the operation focus area through the sensing system of the transportation equipment in response to the transportation equipment traveling in the operation area, and obtaining the current terrain data of the operation focus area;

[0108] The second determining unit 704 is used to determine the area where the terrain changes occur in the operation focus area based on the current terrain data of the operation focus area and the initial terrain data of the operation focus area;

[0109] The control unit 705 is used to control the transportation equipment to collect terrain data for the area where the terrain changes, and to update the initial terrain data of the operation focus area based on the collected terrain data, and to update the map boundary data of the operation area.

[0110] Optionally, the first determination unit 702 includes: a processing module, which is used to rasterize the current terrain data of the operation focus area and the initial terrain data of the operation focus area respectively based on the rasterization origin and the rasterization threshold, so as to obtain the rasterized current terrain data and the rasterized initial terrain data, wherein the rasterization origin is used to indicate the starting position of the rasterization processing of the initial terrain data and the current terrain data, and the rasterization threshold is used to indicate the side length of the raster; a first determination module, which is used to determine the area where the terrain change occurs in the operation focus area based on the elevation feature value corresponding to each grid in the rasterized current terrain data and the elevation feature value corresponding to each grid in the rasterized initial terrain data, wherein the elevation feature value is used to at least indicate the terrain change of the area corresponding to each grid in the operation area.

[0111] Optionally, the processing module is also used to: divide the operation focus area into multiple grids based on the rasterization origin and the rasterization threshold, wherein each grid covers an area of ​​a fixed size in the operation focus area; determine the grid to which each elevation point in the current terrain data belongs, and map the position coordinates and elevation characteristic values ​​corresponding to each elevation point in the current terrain data to the corresponding grid to obtain the rasterized current terrain data, and determine the grid to which each elevation point in the initial terrain data belongs, and map the position coordinates and elevation characteristic values ​​corresponding to each elevation point in the initial terrain data to the corresponding grid to obtain the rasterized initial terrain data.

[0112] Optionally, the first determination module is also used to: perform differential processing on the elevation characteristic value corresponding to the target grid in the current terrain data after rasterization and the elevation characteristic value of the grid corresponding to the target grid in the initial terrain data after rasterization, to obtain a differential result, wherein the target grid is any one of the multiple grids, and the differential result is used to at least represent the degree of change of the highest point, the lowest point and the average height of the terrain in the area corresponding to the target grid in the work focus area; based on the differential result, determine that the degree of change of any one of the highest point, the lowest point and the average height of the terrain in the area corresponding to the target grid in the work focus area is greater than a preset threshold, and determine the target area as an area where terrain changes occur in the work focus area.

[0113] Optionally, the first determination unit 702 includes: a second determination module, used to determine the position of each elevation point in the initial terrain data in the reference coordinate system based on the position information of each elevation point in the initial terrain data; a third determination module, used to determine the curve corresponding to the boundary of the working area in the reference coordinate system based on the map boundary data of the working area; and a fourth determination module, used to determine the area within the curve range and outside the curve range, and the distance between the area and the curve is within the distance threshold range, as the working focus area.

[0114] Optionally, the terrain data updating device 700 is also used to: extract a first elevation point within the curve range and a second elevation point outside the curve range and whose distance to the curve is within a distance threshold range in the initial terrain data; and construct initial terrain data of the work focus area based on the first elevation point and the second elevation point.

[0115] Optionally, the updating unit 704 includes: a sending module, used to send the collected terrain data of the area where the terrain changes occur to the cloud, wherein the terrain data is used to enable the cloud to update the initial terrain data of the operation focus area and update the map boundary data of the operation area; a receiving module, used to receive the updated initial terrain data of the operation focus area and the updated map boundary data of the operation area from the cloud.

[0116] Optionally, the terrain data updating device 700 is further used for: in response to an area in the operation focus area where terrain changes occur again, continuing to update the initial terrain data of the updated operation focus area and the map boundary data of the updated operation area.

[0117] In this embodiment, during the operation of the transportation equipment, the terrain data of the operation focus area can be collected in real time, and when the terrain data of the operation focus area is detected to have changed, the terrain data of the operation focus area and the map boundary data of the operation area are updated in time, so as to achieve rapid response and efficient update of terrain changes in the operation focus area, maintain the freshness and accuracy of the map of the operation area, and provide a reliable map basis for the continuous operation of the transportation equipment, thereby solving the technical problem of poor freshness and accuracy of map data updates in mining operation scenarios.

[0118] An embodiment of the present application further provides an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in various embodiments of the present invention when running.

[0119] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0120] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0121] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0122] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0123] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0124] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0125] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0126] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0127] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0128] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0129] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for updating terrain data, characterized in that: include: Receive initial terrain data of an operation scene of a transport device, and map boundary data of an operation area corresponding to the transport device in the operation scene, wherein the initial terrain data is used to represent the terrain features of the operation scene, and the map boundary data is used to represent the operation range of the transport device in the operation scene; Determine an operation focus area based on the initial terrain data of the operation scene and the map boundary data of the operation area, wherein the operation focus area at least includes the operation area and an area whose distance to the boundary of the operation area is within a distance threshold range; In response to the transport equipment traveling in the operation area, the sensing system of the transport equipment scans the operation area of ​​interest to obtain current terrain data of the operation area of ​​interest; Determine an area within the operation focus area where a terrain change occurs based on the current terrain data of the operation focus area and the initial terrain data of the operation focus area; The transport equipment is controlled to collect terrain data of the area where the terrain changes, and initial terrain data of the operation focus area is updated based on the collected terrain data, as well as map boundary data of the operation area.

2. The updating method according to claim 1, characterized in that: Determining an area in the operation focus area where a terrain change occurs based on the current terrain data of the operation focus area and the initial terrain data of the operation focus area includes: Based on the rasterization origin and the rasterization threshold, the current terrain data of the operation focus area and the initial terrain data of the operation focus area are rasterized to obtain the rasterized current terrain data and the rasterized initial terrain data, wherein the rasterization origin is used to indicate the starting position of the rasterization of the initial terrain data and the current terrain data, and the rasterization threshold is used to indicate the side length of the grid; Based on the elevation characteristic value corresponding to each grid in the current terrain data after rasterization and the elevation characteristic value corresponding to each grid in the initial terrain data after rasterization, the area where terrain changes occur in the operation focus area is determined, wherein the elevation characteristic value is used to at least indicate the terrain change situation of the area corresponding to each grid in the operation area.

3. The updating method according to claim 2, characterized in that: Based on a preset rasterization origin and a rasterization threshold, the current terrain data of the operation focus area and the initial terrain data of the operation focus area are rasterized respectively to obtain the rasterized current terrain data and the initial terrain data, including: Based on the rasterization origin and the rasterization threshold, the job focus area is divided into a plurality of grids, wherein each grid covers an area of ​​a fixed size in the job focus area; Determine the grid to which each elevation point in the current terrain data belongs, and map the position coordinates and the elevation characteristic values ​​corresponding to each elevation point in the current terrain data to the grid to which it belongs, so as to obtain the rasterized current terrain data; and determine the grid to which each elevation point in the initial terrain data belongs, and map the position coordinates and the elevation characteristic values ​​corresponding to each elevation point in the initial terrain data to the grid to which it belongs, so as to obtain the rasterized initial terrain data.

4. The updating method according to claim 2, characterized in that: The elevation characteristic values ​​at least include: a maximum elevation characteristic value, a minimum elevation characteristic value and an average elevation characteristic value, wherein the maximum elevation characteristic value corresponding to each grid is used to represent the highest point of the terrain of the area corresponding to the grid in the operation focus area, the minimum elevation characteristic value corresponding to each grid is used to represent the lowest point of the terrain of the area corresponding to the grid in the operation focus area, and the average elevation characteristic value corresponding to each grid is used to represent the average height of the area corresponding to the grid in the operation focus area; The determining of the area where the terrain changes occur in the operation focus area based on the elevation feature value corresponding to each grid in the rasterized current terrain data and the elevation feature value corresponding to each grid in the rasterized initial terrain data includes: Performing differential processing on the elevation characteristic value corresponding to the target grid in the rasterized current terrain data and the elevation characteristic value of the grid corresponding to the target grid in the rasterized initial terrain data to obtain a differential result, wherein the target grid is any one of the multiple grids, and the differential result is used to at least represent the degree of change of the highest point, the lowest point and the average height of the terrain of the area corresponding to the target grid in the operation focus area; Based on the differential result, it is determined that the degree of change of any one of the highest point of the terrain, the lowest point of the terrain and the average height of the target area corresponding to the target grid in the operation focus area is greater than a preset threshold, and the target area is determined as the area where the terrain changes within the operation focus area.

5. The updating method according to claim 1, characterized in that: The initial terrain data is composed of a series of elevation points with regular rows and columns, and each elevation point corresponds to position information. Based on the initial terrain data of the operation scene and the map boundary data of the operation area, the operation focus area is determined, including: Based on the position information of each elevation point in the initial terrain data, determining the position of each elevation point in the initial terrain data in a reference coordinate system; Based on the map boundary data of the operating area, determining a curve corresponding to a boundary of the operating area in the reference coordinate system; The areas within and outside the curve range and whose distances from the curve are within a distance threshold range are determined as the operation focus areas.

6. The updating method according to claim 5, characterized in that: The method further comprises: Extracting, from the initial terrain data, a first elevation point within the range of the curve and a second elevation point outside the range of the curve and with a distance from the curve within the distance threshold range; Initial terrain data of the operation focus area is constructed based on the first elevation point and the second elevation point.

7. The updating method according to claim 1, characterized in that: Updating the initial terrain data of the operation focus area based on the collected terrain data, and updating the map boundary data of the operation area, including: Sending the collected terrain data of the area where the terrain changes occur to the cloud, wherein the terrain data is used to enable the cloud to update the initial terrain data of the operation focus area and update the map boundary data of the operation area; Receive updated initial terrain data of the operation area of ​​interest and updated map boundary data of the operation area from the cloud.

8. The updating method according to claim 7, characterized in that: The method further comprises: In response to an area in the operation focus area where terrain changes occur again, the updated initial terrain data of the operation focus area and the updated map boundary data of the operation area continue to be updated.

9. The updating method according to claim 1, characterized in that: The transport equipment is at least one of a mining transport vehicle, a mining excavation equipment, a mining loading equipment, and a mining bulldozer equipment.

10. A device for updating terrain data, characterized in that: include: A receiving unit, configured to receive initial terrain data of an operation scene of a transport device, and map boundary data of an operation area of ​​the transport device in the operation scene, wherein the initial terrain data is used to represent terrain features of the operation scene, and the map boundary data is used to represent at least an operation range of the transport device in the operation scene; A first determining unit is configured to determine an operation focus area based on initial terrain data of the operation scene and map boundary data of the operation area, wherein the operation focus area at least includes the operation area and an area whose distance to a boundary of the operation area is within a distance threshold range; A scanning unit, configured to scan the operation focus area through a sensing system of the transportation equipment in response to the transportation equipment traveling in the operation area, and obtain current terrain data of the operation focus area; A second determining unit is used to determine an area where a terrain change occurs in the operation focus area based on the current terrain data of the operation focus area and the initial terrain data of the operation focus area; The control unit is used to control the transport equipment to collect terrain data of the area where the terrain changes, and to update the initial terrain data of the operation focus area based on the collected terrain data, and to update the map boundary data of the operation area.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 9.

12. An electronic device, characterized in that: include: Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of the method described in any one of claims 1 to 9 are implemented.

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