Cloud map updating method and device for strip mine area

Abstract

The invention discloses a cloud map updating method and device for a strip mine area in the technical field of point cloud maps. The method comprises the steps that the strip mine area is divided into a terrain change frequent area and a non-map change frequent area; carrying out map data acquisition on the frequent terrain change region, generating instant update acquisition data, and uploading the data to a cloud in real time; the cloud map is updated at the cloud according to the real-time updating collection data; carrying out map data collection on the non-topographic-change frequent region, generating delayed update collection data, and uploading the delayed update collection data to a cloud end in a delayed manner; the cloud map is updated at the cloud according to the delayed updating collection data; different acquisition modes correspond to different map updating modes, so that the map updating frequency of an infrequently changed area is reduced, the accuracy and the real-time performance of the map are ensured, the server pressure is reduced, and the user experience is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of point cloud maps, and in particular to a method and device for updating cloud maps in an open-pit mine area. Background Art

[0002] Unmanned operation relies on radar, monitoring equipment, and global GPS positioning systems to operate the vehicle automatically. Unmanned operation is currently an important development direction in the industry. In the current operation of unmanned mining trucks in mines, special attention should be paid to the safety hazards in the operation of mining trucks. At present, due to excavation operations and other reasons, the terrain of the loading and unloading areas of mines changes frequently. If the current mine area map is not updated in time, it may cause a series of safety accidents such as inability to drive and equipment damage. Therefore, the cloud and the maps loaded by the unmanned mining trucks need to be updated regularly and in a timely manner to maintain consistency with the actual mine map and reduce safety hazards.

[0003] When the cloud map changes, the unmanned mining truck continues to perform the task, and a series of problems may occur due to inconsistent maps, such as unsafe route planning. Therefore, during the cloud map update process, the task currently being performed by the unmanned mining truck will be suspended due to map changes. After the map update is completed, the road network and vehicle operation trajectory are recalculated according to the latest map to ensure the driving safety of the unmanned mining truck. Due to the above safety reasons, when the terrain changes frequently, the cloud map needs to be updated in a timely manner to reduce the safety hazards of unmanned mining trucks during task execution. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a cloud-based map updating method and device for an open-pit mine area. By dividing the open-pit mine area into areas with frequent terrain changes and areas with frequent non-map changes, and updating each area separately, the accuracy and real-time nature of map updates are ensured while reducing server pressure.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions: In a first aspect, the present invention provides a method for updating a cloud map of an open-pit mine area, comprising: Dividing the open pit mine area into areas with frequent terrain changes and areas with frequent non-map changes; Collect map data for areas with frequent terrain changes, generate instant update data and upload it to the cloud in real time; Updating the cloud map in the cloud according to the real-time updated collected data; Carry out map data collection for the non-terrain change-frequent area, generate delayed update collection data and upload it to the cloud with delay; The cloud map is updated in the cloud according to the delayed update collection data.

[0006] Optionally, the area with frequent terrain changes includes a loading area and an unloading area in an open-pit mine area; and the area with no frequent terrain changes includes a parking area and a driving area in an open-pit mine area.

[0007] Optionally, map data is collected in the area where terrain changes frequently by using a vehicle-mounted map collection device; and map data is collected in the area where terrain does not change frequently by using a handheld map collection device and / or a vehicle-mounted map collection device.

[0008] Optionally, updating the cloud map in the cloud according to the real-time update collection data includes: Performing denoising filtering and coordinate transformation on the instant update acquisition data to obtain instant update coordinate data in a point cloud map coordinate system; Obtaining a device code of an on-vehicle map acquisition device corresponding to the instant update coordinate data, and obtaining a binding area of ​​the on-vehicle map acquisition device according to the device code; The binding area is determined on the origin cloud map, and a map of the binding area is updated by using the real-time updated coordinate data.

[0009] Optionally, updating the cloud map in the cloud according to the delayed update collection data includes: Performing denoising filtering and coordinate transformation on the delayed update acquisition data to obtain delayed update coordinate data in a point cloud map coordinate system; On the visualization interface, a layer is added, in which the delayed update coordinate data is drawn and displayed as a base map in a massive point manner; another layer is added on the layer as an editing layer; Editing elements of the base map on the editing layer, including deleting or adding element identifiers and element areas; An element identifier that needs to be updated is determined, an element area corresponding to the element identifier is obtained, and a map update is performed on the original location cloud map using the deferred update coordinate data corresponding to the element area.

[0010] Optionally, after the map is updated, obtain the region identifier of the updated region; Searching for a list of associated road data according to the area identifier, wherein the list of associated road data includes points inside and outside the area and a road network between the points; Points in the area are updated according to the updated map, and the road network between the points is re-established, and the associated road data list is updated.

[0011] Optionally, during the process of collecting map data for the area with frequent terrain changes or the area with non-frequent terrain changes, the integrity of the retaining wall is verified based on the collected data and the preset retaining wall size. If the verification fails, a retaining wall failure notification is sent, and the collected data of the retaining wall is uploaded to the cloud to update the cloud map.

[0012] In a second aspect, the present invention provides a cloud map updating device for an open-pit mine area, comprising: A region division module is configured to divide the open pit mine into regions with frequent terrain changes and regions with frequent non-map changes; The first acquisition module is configured to collect map data for the area with frequent terrain changes, generate instant update collection data and upload it to the cloud in real time; A first updating module is configured to update the cloud map in the cloud according to the real-time update collection data; The second acquisition module is configured to collect map data for the non-terrain change-frequent area, generate delayed update acquisition data and upload it to the cloud with a delay; The second updating module is configured to update the cloud map in the cloud according to the delayed update collection data.

[0013] Optionally, also include: The retaining wall verification module is configured to verify the integrity of the retaining wall according to the collected data and the preset retaining wall size during the map data collection process for the area with frequent terrain changes or the area with no frequent terrain changes. If the verification fails, a retaining wall failure notification is sent and the collected data of the retaining wall is uploaded to the cloud; The retaining wall update module is configured to update the cloud map in the cloud according to the collected data of the retaining wall.

[0014] In a third aspect, the present invention provides an electronic device, including a processor and a storage medium; The storage medium is used to store instructions; The processor is used to operate according to the instructions to execute the steps according to the above method.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a method and device for updating cloud maps in an open-pit mine area. The open-pit mine area is divided into areas with frequent terrain changes and areas with frequent non-map changes. Real-time data collection and real-time upload are performed on the areas with frequent terrain changes. The areas with frequent non-map changes are detected manually or by mining trucks and uploaded with a delay. Thus, the areas with frequent terrain changes are quickly updated, and the areas with frequent non-map changes are updated regularly or irregularly. While ensuring the accuracy and real-time nature of map updates, the pressure on the server is reduced. Furthermore, during the map data collection process, the retaining wall is detected to facilitate monitoring of the retaining wall status and avoid safety accidents caused by unqualified retaining walls. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flow chart of a method for updating a cloud map of an open-pit mine area provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0018] Embodiment 1:

[0019] like Figure 1 As shown, an embodiment of the present invention provides a method for updating a cloud map of an open-pit mine area, comprising: Step 1: Divide the open-pit mine area into areas with frequent terrain changes and areas with frequent non-map changes.

[0020] Specifically in this embodiment, the area with frequent terrain changes includes the loading area and unloading area in the open-pit mine area, and the area with frequent non-terrain changes includes the parking area and driving area in the open-pit mine area. In other optional embodiments, reasonable division can also be performed according to the frequency of terrain changes.

[0021] Step 2: Collect map data in areas where terrain changes frequently, generate instant update data and upload it to the cloud in real time.

[0022] Frequent map updates are required in areas with frequent terrain changes. Usually, map data is collected through vehicle-mounted map collection equipment and uploaded directly to the cloud after collection. The map collection equipment here includes laser radars installed on vehicles such as excavators and bulldozers that are active in areas with frequent terrain changes.

[0023] Step 3: Update the cloud map based on the real-time updated collected data in the cloud.

[0024] Specifically in this implementation, the update method is: Step 3.1, performing denoising filtering and coordinate transformation on the real-time updated collected data to obtain real-time updated coordinate data in the point cloud map coordinate system; Step 3.2, obtain the device code of the vehicle-mounted map acquisition device corresponding to the instant update coordinate data, and obtain the binding area of ​​the vehicle-mounted map acquisition device according to the device code; for example, the vehicle-mounted map acquisition device working in loading area 1 has its binding area as loading area 1; the vehicle-mounted map acquisition device working in loading area 2 has its binding area as loading area 2; Step 3.3, determine the binding area on the origin cloud map, and update the map of the binding area by updating the coordinate data in real time; Step 3.4, after the map is updated, obtain the area identifier of the bound area; Step 3.5, searching for a list of associated road data according to the area identifier, the list of associated road data including points inside and outside the bound area and the road network between the points; Step 3.6: Update the points in the bound area according to the updated map, re-establish the road network between the points, and update the associated road data list.

[0025] Step 4: Collect map data for areas where terrain changes are not frequent, generate delayed update collection data, and upload it to the cloud with a delay.

[0026] In areas where terrain changes are not frequent, maps do not need to be updated frequently. Map data can be collected by handheld map collection equipment and / or mining trucks, and uploaded to the cloud manually at regular or irregular intervals after collection. The map collection equipment here includes laser radars installed on mining trucks and other vehicles that are active in areas where terrain changes are not frequent.

[0027] Step 5: Update the cloud map in the cloud based on the delayed update collection data.

[0028] Specifically in this implementation, the update method is: Step 5.1, performing denoising filtering and coordinate transformation on the delayed update acquisition data to obtain the delayed update coordinate data in the point cloud map coordinate system; Step 5.2, on the visualization interface, add a new layer, in which the delayed update coordinate data is drawn and displayed as a base map in the form of massive points; add another layer on the layer as an editing layer; Step 5.3, edit the elements of the base map on the editing layer, including deleting or adding element identifiers and element areas; Step 5.4, determine the element identifier that needs to be updated, obtain the element area corresponding to the element identifier, and update the map on the original location cloud map using the delayed update coordinate data corresponding to the element area; Step 5.5, after the map is updated, obtain the region identifier of the updated region where the element is located; Step 5.6, searching for a list of associated road data according to the area identifier, the list of associated road data including points inside and outside the area and the road network between the points; Step 5.7: Update the points in the area according to the updated map, re-establish the road network between the points, and update the associated road data list.

[0029] In addition, when collecting map data in areas with frequent terrain changes or in areas without frequent terrain changes, the integrity of the retaining wall is verified based on the collected data and the preset retaining wall dimensions. If the verification fails, a retaining wall failure notification is sent, and the collected data of the retaining wall is uploaded to the cloud to update the cloud map, thereby avoiding safety accidents caused by unqualified retaining walls.

[0030] Embodiment 2:

[0031] An embodiment of the present invention provides a cloud map updating device for an open-pit mine area, comprising: A region division module is configured to divide the open pit mine area into a region with frequent terrain changes and a region with frequent non-map changes; The first acquisition module is configured to collect map data for areas with frequent terrain changes, generate instant update collection data and upload it to the cloud in real time; A first updating module is configured to update the cloud map based on the real-time update collection data in the cloud; The second acquisition module is configured to collect map data for areas without frequent terrain changes, generate delayed update acquisition data and upload it to the cloud with a delay; A second update module is configured to update the cloud map in the cloud based on the deferred update collection data; The retaining wall verification module is configured to verify the integrity of the retaining wall according to the collected data and the preset retaining wall size during the map data collection process for the area with frequent terrain changes or the map data collection process for the area with no frequent terrain changes. If the verification fails, a retaining wall failure notification is sent and the collected data of the retaining wall is uploaded to the cloud; The retaining wall update module is configured to update the cloud map based on the collected data of the retaining wall in the cloud.

[0032] Embodiment three:

[0033] Based on the open-pit mine cloud map updating method provided in the first embodiment, an electronic device provided in the embodiment of the present invention includes a processor and a storage medium; The storage medium is used to store instructions; The processor is used to operate according to the instructions to execute the steps according to the above method.

[0034] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0035] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0036] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0037] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0038] 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 technical principles 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 cloud maps in an open-pit mine area, characterized in that: include: Dividing the open pit mine area into areas with frequent terrain changes and areas with frequent non-map changes; Collect map data for areas with frequent terrain changes, generate instant update data and upload it to the cloud in real time; Updating the cloud map in the cloud according to the real-time updated collected data; Carry out map data collection for the non-terrain change-frequent area, generate delayed update collection data and upload it to the cloud with delay; The cloud map is updated in the cloud according to the delayed update collection data.

2. The method for updating the open-pit mine cloud map according to claim 1, characterized in that: The area with frequent terrain changes includes the loading area and the unloading area in the open-pit mine area; the area with frequent non-terrain changes includes the parking area and the driving area in the open-pit mine area.

3. The method for updating the open-pit mine cloud map according to claim 2, characterized in that: The area with frequent terrain changes has map data collected by a vehicle-mounted map collection device; the area with non-frequent terrain changes has map data collected by a handheld map collection device and / or a vehicle-mounted map collection device.

4. The method for updating the open-pit mine cloud map according to claim 1, characterized in that: The updating of the cloud map according to the real-time update collection data in the cloud includes: Performing denoising filtering and coordinate transformation on the instant update acquisition data to obtain instant update coordinate data in a point cloud map coordinate system; Obtaining a device code of an on-vehicle map acquisition device corresponding to the instant update coordinate data, and obtaining a binding area of ​​the on-vehicle map acquisition device according to the device code; The binding area is determined on the origin cloud map, and a map of the binding area is updated by using the real-time updated coordinate data.

5. The method for updating the open-pit mine cloud map according to claim 1, characterized in that: The updating of the cloud map according to the delayed update collection data in the cloud includes: Performing denoising filtering and coordinate transformation on the delayed update acquisition data to obtain delayed update coordinate data in a point cloud map coordinate system; On the visualization interface, a layer is added, in which the delayed update coordinate data is drawn and displayed as a base map in a massive point manner; another layer is added on the layer as an editing layer; Editing elements of the base map on the editing layer, including deleting or adding element identifiers and element areas; An element identifier that needs to be updated is determined, an element area corresponding to the element identifier is obtained, and a map update is performed on the original location cloud map using the deferred update coordinate data corresponding to the element area.

6. The method for updating the open-pit mine cloud map according to claim 4 or 5, characterized in that: After the map is updated, the area identifier of the updated area is obtained; Searching for a list of associated road data according to the area identifier, wherein the list of associated road data includes points inside and outside the area and a road network between the points; Points in the area are updated according to the updated map, and the road network between the points is re-established, and the associated road data list is updated.

7. The method for updating the open-pit mine cloud map according to claim 1, characterized in that: During the process of collecting map data for the area with frequent terrain changes or the area with non-frequent terrain changes, the integrity of the retaining wall is verified based on the collected data and the preset retaining wall size. If the verification fails, a retaining wall failure notification is sent, and the collected data of the retaining wall is uploaded to the cloud to update the cloud map.

8. A cloud map updating device for an open-pit mine area, characterized in that: include: A region division module is configured to divide the open pit mine into regions with frequent terrain changes and regions with frequent non-map changes; The first acquisition module is configured to collect map data for the area with frequent terrain changes, generate instant update collection data and upload it to the cloud in real time; A first updating module is configured to update the cloud map in the cloud according to the real-time update collection data; The second acquisition module is configured to collect map data for the non-terrain change-frequent area, generate delayed update acquisition data and upload it to the cloud with a delay; The second updating module is configured to update the cloud map in the cloud according to the delayed update collection data.

9. The open-pit mine cloud map updating device according to claim 8, characterized in that: Also includes: The retaining wall verification module is configured to verify the integrity of the retaining wall according to the collected data and the preset retaining wall size during the map data collection process for the area with frequent terrain changes or the area with no frequent terrain changes. If the verification fails, a retaining wall failure notification is sent and the collected data of the retaining wall is uploaded to the cloud; The retaining wall update module is configured to update the cloud map in the cloud according to the collected data of the retaining wall.

10. An electronic device, characterized in that: including processor and storage medium; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the steps of the method according to any one of claims 1-7.

Images