A method and system for generating a three-dimensional map for unmanned operation in open-pit mines

Abstract

The present invention discloses a method and system for generating a three-dimensional map for unmanned open-pit mines, which collect multi-source geographical data of open-pit mines at different spatio-temporal scales from multiple directions and angles, and establish an open-pit mine geographical model including a thematic business map of vector type, an image map of raster type, and a topographic map of raster type according to the multi-source geographical data; determine thematic business map data, tile data, and dynamic map data according to the open-pit mine geographical model; obtain the browsed coordinate range through the front end, obtain the corresponding tile data according to the coordinate range and the obtained map zoom level parameter, and splice and superimpose the corresponding tile data, thematic business map data, and dynamic map data at the front end to obtain a three-dimensional map. Advantages: By effectively combining three-dimensional terrain, static map data, and dynamic map data to form a three-dimensional map, the display of real-time attribute information and high-precision spatial information is realized, and the management efficiency is improved.

Description

Technical Field

[0001] The present invention relates to a method and system for generating a three-dimensional map for unmanned operation in open-pit mines, belonging to the technical fields of visualization and real-time generation. Background Art

[0002] Due to the particularity and complexity of unmanned transportation operations in open-pit mines, the implementation of an unmanned transportation management system for open-pit mines faces many technical challenges. Among them, efficiently monitoring the real-time operating status of vehicles in the mine is crucial for realizing unmanned management. The spatial characteristics of the map make it an effective carrier for realizing the monitoring function.

[0003] There are some problems and limitations in existing research:

[0004] In the prior art, drones are used as tools for collecting geographical data, with the focus on rapid update. However, the quality of the collected data is greatly affected by terrain coverage, weather, etc., and the shooting range cannot be precisely controlled. It is impossible to distinguish and identify general driving roads and areas in open-pit mines, and it is not applicable to the unmanned transportation scenario in open-pit mines.

[0005] There is also a relatively common three-dimensional map slicing process in the prior art. Using a thinning algorithm to process and reduce the data volume is relatively complex and time-consuming for open-pit mines with a small regional scope.

[0006] In the visualization method of the prior art, conditional judgments are used to compare the combined conditional data input by the user with the data in the data storage unit one by one, and the equal results are screened and then output to the user-side browser. In this method, spatial operations are frequent and the computational amount is large, and the efficiency of the visualization system is low. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a method and system for generating a three-dimensional map for unmanned operation in open-pit mines.

[0008] To solve the above technical problem, the present invention provides a method for generating a three-dimensional map for unmanned operation in open-pit mines, including:

[0009] Collecting multi-source geographical data of open-pit mines at different spatio-temporal scales from multiple directions and angles, and establishing an open-pit mine geographical model including a thematic business map of vector type, an image map of raster type, and a topographic map of raster type according to the multi-source geographical data;

[0010] Storing the thematic business map of vector type in the open-pit mine geographical model as thematic business map data after vehicle-end processing;

[0011] Fuse and slice the raster-type image map and the raster-type topographic map in the open-pit mine geographic model in sequence to obtain the image map tile data in JPEG format and the topographic map tile data in JSON format;

[0012] Collect the position and attitude of the vehicle with the node to be located, read the data of the position and attitude by the spatial data unit and the attribute data unit, perform coordinate system conversion and attribute integration to obtain the dynamic map data;

[0013] Obtain the corresponding image map tile data and topographic map tile data according to the coordinate range browsed by the front end and the obtained map zoom level parameter, and splice and overlay the corresponding image map tile data, topographic map tile data, thematic business map data and dynamic map data at the front end to obtain a three-dimensional map.

[0014] Further, collect multi-source geographic data of different spatio-temporal scales of the open-pit mine in multiple directions and at multiple angles, including:

[0015] Obtain the terrain scan data scanned by the lidar installed on the vehicle during operation;

[0016] The aerial photo data obtained by the regular cruise of the UAV;

[0017] The terrain scan data and the aerial photo data form multi-source geographic data.

[0018] Further, the fusion processing includes:

[0019] Convert the multi-source geographic data into a geographic reference coordinate system;

[0020] Filter the multi-source geographic data after coordinate system conversion, remove noise points and outliers, and extract feature points to construct a three-dimensional point cloud model;

[0021] Analyze the three-dimensional point cloud model to generate TIN grid data, and construct high-precision DEM data according to the TIN grid data;

[0022] Obtain the publicly available DEM data from a public platform, and fuse it with the high-precision DEM data to obtain the fused DEM data in TIFF format.

[0023] Further, when fusing with the high-precision DEM data, the overlapping part of the data coordinate range uses the high-precision DEM data for fusion, and the surrounding area uses the publicly available DEM data to establish a three-dimensional terrain with a larger coverage area.

[0024] Further, the slicing processing includes:

[0025] The DEM data is fused and divided into tile units of the same size by cutting at different scale levels to form a pyramidal multi - resolution hierarchical model; in the multi - resolution hierarchical model, the geographical range represented from the bottom layer to the top layer of the tile pyramid remains unchanged, and the next - level tiles are formed by quad - tree splitting of each tile in the previous level; the map origin coordinates of the tiles are longitude - 180 degrees and latitude 90 degrees, located at the lower - left corner of the first - level tiles.

[0026] Furthermore, each file of the image map tile data is 256 * 256 pixels, organized in a hash file set in a level, row, and column manner for storage. Each tile has a unique index number, and the tile files are published as a map service through a web server.

[0027] Furthermore, obtaining the corresponding tile data according to the coordinate range and level parameter includes:

[0028] Determine the longitude - latitude coordinates (lng, lat) according to the coordinate range, and calculate the tile row - column number coordinates (tileX, tileY) according to the longitude - latitude coordinates (lng, lat) and the map level Level. The formula is:

[0029] tileX = (lng + 180) / 360×2Level

[0030] tileY = (1 / 2−ln(tan(lat×π / 180)+sec(lat×π / 180)) / 2×π)×2Level;

[0031] Obtain the corresponding tile data according to the tile row - column number coordinates.

[0032] Furthermore, when the device undergoes spatial or attribute updates, the in - vehicle terminal sends a message to notify the fleet. At this time, the latest spatial and attribute data is obtained and the devices with the same identifier are re - rendered at the front - end to refresh the real - time information.

[0033] Furthermore, it also includes: map display, including:

[0034] When the map is loaded, the three - dimensional terrain is default at the bottom layer, and the image layer and the thematic business layer are successively superimposed upward onto the three - dimensional terrain. The height changes with the elevation in the terrain data. Among them, the layers representing the loading and unloading areas, roads, and nodes in the mine are successively upward in the superposition order of surface, line, and point. The dynamic map data is located at the top layer, and the dynamic map data is structured and rendered as device icons and information panels in the mine.

[0035] An unmanned three - dimensional map generation system for open - pit mines includes:

[0036] A building module for collecting multi-source geographical data of different spatio-temporal scales of open-pit mines from multiple directions and angles, and establishing an open-pit mine geographical model including a thematic business map of vector type, an image map of raster type, and a topographic map of raster type according to the multi-source geographical data;

[0037] A first processing module for storing the thematic business map of vector type in the open-pit mine geographical model as thematic business map data after vehicle-end processing;

[0038] A second processing module for successively performing fusion processing and slicing processing on the image map of raster type and the topographic map of raster type in the open-pit mine geographical model to obtain image map tile data in JPEG format and topographic map tile data in JSON format;

[0039] A third processing module for collecting the position and attitude of the vehicle with the node to be located, reading data by the spatial data unit and the attribute data unit for the position and attitude, performing coordinate system conversion and attribute integration to obtain dynamic map data;

[0040] An overlay module for obtaining the corresponding image map tile data and topographic map tile data according to the coordinate range obtained by the front-end browsing and the obtained map zoom level parameter, and splicing and overlaying the corresponding image map tile data, topographic map tile data, thematic business map data, and dynamic map data at the front-end to obtain a three-dimensional map.

[0041] The beneficial effects achieved by the present invention:

[0042] This system receives and processes dynamic data provided by the vehicle-end positioning device and interface, effectively combines remote sensing images, UAV aerial photos and digital elevation model terrain information to form a three-dimensional map, and realizes the display of real-time attribute information and high-precision spatial information on this basis, for the unmanned open-pit mine administrator to remotely monitor the operation status of equipment in the mine and improve management efficiency. Description of the Drawings

[0043] Figure 1 is the system implementation flowchart of the present invention;

[0044] Figure 2 is the flowchart of three-dimensional terrain processing in the present invention;

[0045] Figure 3 is the schematic diagram of map model slicing in the present invention;

[0046] Figure 4 is the schematic diagram of multi-source map overlay in the system of the present invention. Detailed Embodiments

[0047] 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.

[0048] A method for generating a three-dimensional map for unmanned open-pit mines, as Figure 1 shown, includes:

[0049] Step S1. Collect and obtain the basic data for modeling and construct a three-dimensional geographical model. Use terrain scanning equipment or drones to collect multi-source geographical data at different spatio-temporal scales from multiple directions and angles, and establish a geographical model of the open-pit mine.

[0050] Step S2. Storage and processing of the geographical model. Receive the map file collected and processed by the vehicle terminal, import it into the spatial database, and store it as different types of feature tables. Perform fusion processing and slicing processing on various geographical data such as images and three-dimensional terrain to facilitate subsequent visualization. After slicing, obtain the tile directory file and publish it as a map service.

[0051] Step S3. Sensors collect monitoring data. Use GNSS (Global Navigation Satellite System) to collect the position and attitude of the vehicle of the node to be located, and transmit the collected data to the database server after reading the data by the spatial data unit and the attribute data unit. The database server stores the spatial data unit and the attribute data. The spatial data unit and the attribute data unit read the data and transmit it to the server. The sensor transmits the monitoring data to the server through communication methods such as GPS, Beidou satellite, and mobile data network, and the server automatically receives the data and stores it in the corresponding database table.

[0052] Step S4. Data visualization. The front end requests the corresponding tile data according to the map zoom level parameter within the browsing coordinate range, splices and displays the three-dimensional map at the front end, shows the three-dimensional terrain structure of the mine, and can be arbitrarily zoomed, moved, and rotated when viewing. At the same time, the front end structures the received monitoring data and renders it into equipment icons and information panels in the mine. When the equipment with the same identifier undergoes spatial or attribute updates, a message is sent to notify the machine group to obtain the latest data and re-render it at the front end to refresh the real-time information.

[0053] The map zoom level parameter is generally from level 0 to level 20. At each level, the map has a corresponding spatial resolution (the actual ground distance represented by one pixel on the screen). The higher the level, the smaller the spatial resolution. At level 0, the map display range is the largest, and the global map can be viewed. When the level increases, the map zooms in and the display area becomes smaller. The level parameter is obtained from the front-end browser. When the user views the map and zooms in to a certain level, that is the current level. Determine the map viewing level and the rectangular coordinate range through the user's browser window, and calculate the tiles to be requested based on these two parameters.

[0054] Step S1, multiple types of geographical data are fused to generate a three-dimensional terrain, as shown in Figure 2 below. The specific steps are as follows:

[0055] S11, The original three-dimensional point cloud data scanned by the lidar installed on the excavation, transportation, and auxiliary vehicles during operation is filtered through a series of algorithms to remove noise points and outliers, extract feature points, etc., and a three-dimensional point cloud model is established. After screening the aerial photos obtained by the drone's regular cruising, a dense point cloud is established.

[0056] S12, The collected data is transformed into a georeference coordinate system, and key information is extracted from it for model construction. Through the analysis of the point cloud data, TIN grid data is generated, and then DEM (Digital Elevation Model) data is constructed through interpolation, etc.;

[0057] S13, Obtain publicly available DEM data with a 30-meter accuracy from a public platform such as the Geospatial Data Cloud, and fuse it with the high-precision DEM data collected by itself generated in step S12. When the data coordinate ranges overlap, the self-collected data is the main, and the publicly available data is the secondary, to establish a terrain model with a larger coverage area. The fused three-dimensional terrain is exported in TIFF format.

[0058] In step S2, the method of terrain slicing processing is as shown in Figure 3 below, specifically:

[0059] At different scale levels of the map, it is divided into tile units of the same size by cutting, forming a pyramid-shaped multi-resolution hierarchical model. The geographical range represented from the bottom layer to the top layer of the tile pyramid remains unchanged. The next-level tiles are formed by the quadtree division of each tile in the previous level. The higher the level, the more tiles that make up the map, and the more detailed the geographical content that can be displayed. The origin coordinates of the tile map are -180 degrees, 90 degrees, located at the lower left corner of tile No. 0, 0.

[0060] During the use of the map service, it is necessary to obtain the tiles in the area where the specific longitude and latitude are located, that is, to perform the conversion between longitude and latitude coordinates, tile coordinates, and pixel coordinates.

[0061] According to the requested longitude and latitude coordinates (lng, lat) and the map zoom level (Level), calculate the tile row and column number coordinates (tileX, tileY), and the formula is:

[0062] tileX = (lng + 180) / 360 × 2Level

[0063] tileY = (1 / 2 - ln(tan(lat × π / 180) + sec(lat × π / 180)) / 2 × π) × 2Level

[0064] Get the corresponding tile data according to the tile row and column number coordinates.

[0065] After slicing, the data is stored in PNG format, and each tile file is 256*256 pixels. It is organized as a hash file set in the "level, row, column" method and stored on the server side. Each tile has a unique index number. The tile file is published as a map service through a web server.

[0066] In step S3, monitoring data is collected through sensors, specifically:

[0067] The high-precision positioning device is installed on the vehicle to collect the location data. The communication module pre-processes and transforms the acquired terrain information and location information, and then sends the three-dimensional high-precision location in the geodetic coordinates to the server device through time synchronization.

[0068] The vehicle terminal system obtains attribute information such as the vehicle driving status and the operating status of the vehicle equipment and sends it to the server device.

[0069] The server transmits the monitoring information to the front end through the event stream platform.

[0070] The data visualization diagram of step S4 is as follows Figure 4 As shown, further comprising:

[0071] The server's storage method for spatial data is as follows: image and terrain slice data are stored on disk in the form of hierarchical file directories; layer feature vector data is stored in the spatial database in the form of spatial tables; and real-time information is stored in the attribute database in the form of relational tables.

[0072] The front-end map display overlays different types of map data such as three-dimensional terrain, static, and dynamic, making the plane data more three-dimensional and the expression content richer.

[0073] When the map is loaded, the terrain is at the bottom layer by default, and other static and dynamic layers cover it. The terrain tile map created in step S2 is displayed on the client side by calculating the row and column numbers according to the visible range and level requested by the client to obtain the tiles of the grid at the corresponding level. The client requests tiles by specifying the concatenated domain name + file number index through the HTTP-based REST interface. For example, the client's request for the x-row y-column tile at resolution level z is [tile service url] / z / x / y.png. The requested tiles are tiled on the client side to form a terrain map describing the elevation data.

[0074] The static image layer and the thematic business map layer are successively stacked and attached upward to the terrain, and the height changes with the elevation in the terrain data. Among them, the layers representing the loading and unloading areas, roads, and nodes in the mine are successively stacked upward in the order of surface, line, and point. The dynamic monitoring data is located on the top layer.

[0075] When the layers with different contents are stacked and overlaid vertically, rendering methods such as data enhancement, transparency, and symbolization are used for display.

[0076] Correspondingly, the present invention also provides an unmanned three-dimensional map generation system for open-pit mines, including:

[0077] A construction module for collecting multi-source geographic data of open-pit mines at different spatio-temporal scales from multiple aspects and angles, and establishing an open-pit mine geographic model including a thematic business map of vector type, an image map of raster type, and a topographic map of raster type according to the multi-source geographic data;

[0078] A first processing module for storing the thematic business map of vector type in the open-pit mine geographic model as thematic business map data after vehicle-end processing;

[0079] A second processing module for successively performing fusion processing and slicing processing on the image map of raster type and the topographic map of raster type in the open-pit mine geographic model to obtain JPEG format image map tile data and JSON format topographic map tile data;

[0080] A third processing module for collecting the position and attitude of the vehicle at the node to be located, reading the data by the spatial data unit and the attribute data unit for the position and attitude, and performing coordinate transformation and attribute integration to obtain dynamic map data;

[0081] An overlay module for obtaining the corresponding image map tile data and topographic map tile data according to the coordinate range browsed through the front end and the obtained map zoom level parameter, and splicing and overlaying the corresponding image map tile data, topographic map tile data, thematic business map data, and dynamic map data at the front end to obtain a three-dimensional map.

[0082] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can 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.

[0083] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices produce means for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0084] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0085] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0086] The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A method for generating a three-dimensional map for unmanned open-pit mines, characterized in that, it includes: Collecting multi-source geographical data of open-pit mines at different spatio-temporal scales from multiple directions and angles, and establishing an open-pit mine geographical model including a thematic business map of vector type, an image map of raster type, and a topographic map of raster type based on the multi-source geographical data; After processing the thematic business map of vector type in the open-pit mine geographical model by the vehicle end, it is stored as thematic business map data; The image map of raster type and the topographic map of raster type in the open-pit mine geographical model are sequentially subjected to fusion processing and slicing processing to obtain image map tile data in JPEG format and topographic map tile data in JSON format; Collecting the position and attitude of the vehicle of the node to be located, reading the data by the spatial data unit and the attribute data unit for the position and attitude, and performing coordinate transformation and attribute integration to obtain dynamic map data; Obtaining the coordinate range browsed through the front end, and obtaining the corresponding image map tile data and topographic map tile data according to the coordinate range and the obtained map zoom level parameter, and splicing and overlaying the corresponding image map tile data, topographic map tile data, thematic business map data, and dynamic map data at the front end to obtain a three-dimensional map.

2. The method for generating a three-dimensional map for unmanned open-pit mines according to claim 1, characterized in that, The collecting of multi-source geographical data of open-pit mines at different spatio-temporal scales from multiple directions and angles includes: Obtaining terrain scanning data scanned by a lidar installed on the vehicle during operation; Timed cruise of an unmanned aerial vehicle to obtain aerial photo data; The terrain scanning data and the aerial photo data constitute multi-source geographical data.

3. The method for generating a three-dimensional map for unmanned open-pit mines according to claim 2, characterized in that, The fusion processing includes: Converting multi-source geographical data into a geographical reference coordinate system; Filtering the multi-source geographical data after converting the coordinate system, removing noise points and outliers, and extracting feature points to construct a three-dimensional point cloud model; Analyzing the three-dimensional point cloud model to generate TIN grid data, and constructing high-precision DEM data according to the TIN grid data; Obtaining public DEM data from a public platform and fusing it with the high-precision DEM data to obtain fused DEM data in TIFF format.

4. The method for generating a three-dimensional map for unmanned open-pit mines according to claim 3, characterized in that, When fusing with the high-precision DEM data, the overlapping part of the data coordinate range uses the high-precision DEM data for fusion, and the surrounding area uses the public DEM data to establish a three-dimensional terrain with a larger coverage area.

5. The method for generating a three-dimensional map for unmanned open-pit mines according to claim 4, characterized in that, The slicing processing includes: The DEM data is fused and divided into tile units of the same size by cutting at different scale levels to form a pyramid-shaped multi-resolution hierarchical model; the geographical range represented from the bottom layer to the top layer of the tile pyramid in the multi-resolution hierarchical model remains unchanged, and the next-level tiles are formed by quadtree segmentation of each tile in the previous level; the map origin coordinates of the tiles are longitude -180 degrees and latitude 90 degrees, located at the lower left corner of the first-level tiles.

6. The method for generating a three-dimensional map of an unmanned open-pit mine according to claim 1, characterized in that, Each file of the image map tile data is 256*256 pixels, organized in a level, row, and column manner as a hash file set for storage. Each tile has a unique index number, and the tile files are published as a map service through a web server.

7. The method for generating a three-dimensional map of an unmanned open-pit mine according to claim 1, characterized in that, The obtaining of the corresponding tile data according to the coordinate range and level parameters includes: Determining the longitude and latitude coordinates (lng, lat) according to the coordinate range, and calculating the tile row and column number coordinates (tileX, tileY) according to the longitude and latitude coordinates (lng, lat) and the map level Level. The formula is: tileX = (lng + 180) / 360×2Level tileY = (1 / 2 - ln(tan(lat×π / 180) + sec(lat×π / 180)) / 2×π)×2Level; Obtaining the corresponding tile data according to the tile row and column number coordinates.

8. The method for generating a three-dimensional map of an unmanned open-pit mine according to claim 1, characterized in that, When the device undergoes spatial or attribute updates, the vehicle-mounted terminal sends a message to notify the machine group. At this time, the latest spatial and attribute data is obtained and the same identification device is re-rendered at the front end to refresh the real-time information.

9. The method for generating a three-dimensional map of an unmanned open-pit mine according to claim 1, characterized in that, It further includes: Map display, including: When the map is loaded, the three-dimensional terrain is located at the bottom layer by default, and the image layer and the thematic business layer are sequentially stacked upward and attached to the three-dimensional terrain. The height changes with the elevation in the terrain data. Among them, the layers representing the loading and unloading areas, roads, and nodes in the mine are sequentially stacked upward in the order of surface, line, and point. The dynamic map data is located at the top layer, and the dynamic map data is structured and rendered as device icons and information panels in the mine.

10. A system for generating a three-dimensional map of an unmanned open-pit mine, characterized in that, It includes: A construction module for collecting multi-source geographical data of an open-pit mine at different spatio-temporal scales from multiple aspects and angles, and establishing an open-pit mine geographical model including a thematic business map of vector type, an image map of raster type, and a topographic map of raster type according to the multi-source geographical data; A first processing module for storing the thematic business map of vector type in the open-pit mine geographical model as thematic business map data after being processed by the vehicle terminal; The second processing module is used to successively perform fusion processing and slicing processing on the raster-type image map and the raster-type topographic map in the open-pit mine geographic model to obtain JPEG-format image map tile data and JSON-format topographic map tile data; The third processing module is used to collect the position and attitude of the vehicle of the node to be located, read the data of the position and attitude by the spatial data unit and the attribute data unit, perform coordinate system conversion and attribute integration to obtain dynamic map data; The overlay module is used to obtain the corresponding image map tile data and topographic map tile data according to the coordinate range obtained through the front end and the obtained map zoom level parameter, and splice and overlay the corresponding image map tile data, topographic map tile data, thematic business map data and dynamic map data at the front end to obtain a three-dimensional map.

Images