A high-precision map dynamic updating system and dynamic updating method for an open-pit mine

Abstract

The application discloses an open-pit mine high-precision map dynamic updating system and a dynamic updating method. The dynamic updating system and method adopt a multi-mode crowdsourcing map updating strategy based on contribution degree, make mode judgment based on a mine area transport vehicle, a working vehicle and a car end and the like, judge the contribution degree of the cloud end map based on the working mode of various vehicles, select whether the map is updated or not, adopt a car end map updating module based on the vehicle position and the task path, judge whether the current vehicle driving route conflicts with the map uploading or not through the vehicle state acquired by the platform end, confirm the car end map updating strategy, and determine the range of the layer to be updated through incremental judgment and control on each layer data in different versions based on a data difference issuing module, so that the technical problems of vehicle operation task interruption, long updating time consumption and traffic waste caused by map updating based on data version are solved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of dynamic updating of electronic maps of mining areas, and relates to a real-time map difference and distribution server for high-precision maps of open-pit mines and related map updating terminals, and a real-time dynamic incremental updating method for map data. BACKGROUND

[0002] High-precision maps play an important role in assisting environmental perception, decision-making and control in automatic driving of open-pit mines. In order to ensure safe driving of automatic driving vehicles, high-precision maps need to have high precision and high freshness.

[0003] The data volume of high-precision maps is generally large, and full updating of maps will increase communication pressure with terminals and has low upgrading efficiency. In the open-pit mine scene, the update frequency is different in different regions. The update frequency of loading areas, dumping areas and other regions can reach the minute level, and map updating will cause interruption of vehicle operation. In order to reduce the interruption of frequent map updating to production and operation, it is necessary to be able to perform on-demand incremental updating of maps to ensure the real-time nature and operation continuity of terminal map updating.

[0004] There are some researches on incremental updating of electronic maps. The incremental updating method based on administrative division or map grid division of public roads cannot well adapt to the open-pit mine scene. In the existing research on incremental updating of high-precision maps of open-pit mines, the incremental updating takes layers as the minimum updating unit, and cannot well solve the problems of large data volume, large communication pressure and low efficiency of map updating, and cannot solve the problem of interruption of vehicle operation caused by road network updating. SUMMARY

[0005] In view of this, the present application provides a dynamic updating system and method for high-precision maps of open-pit mines, which can solve the technical problems of interruption of vehicle operation tasks caused by map updating based on data version, long updating time and waste of traffic. The present application adopts the following technical solutions:

[0006] The present application provides a dynamic updating system for high-precision maps of open-pit mines, wherein the high-precision map of the open-pit mine at least includes the following layers: loading area, unloading area, auxiliary work area, obstacle, lane, road drivable boundary, parking position and other layers. The dynamic updating system includes a high-precision map subsystem of the open-pit mine, a dispatching command module and a terminal map updating module.

[0007] The open-pit mine high-precision map subsystem comprises a map data management module, a map updating module and a map distribution module; the map updating module determines an updating strategy based on contribution degrees of crowd-sourcing collection vehicles, and updates map data by means of automation, semi-automation or manual operation according to different updated map elements; the map data management module is used for managing various versions of mine high-precision map data produced by the map updating module; and the map distribution module judges a terminal updating map timing according to version updating content, a terminal real-time position, road rights and a task path, and provides version full data or incremental data to the terminal according to version information by means of data difference.

[0008] The scheduling and command module is mounted on a working vehicle terminal, is used for receiving a terminal updating map requirement sent by the map distribution module, sending a parking updating map instruction to the terminal, receiving a feedback of terminal map updating completion, and re-planning a path according to a terminal original target and an updated map and sending a vehicle task instruction to the terminal.

[0009] The terminal map updating module is mounted on a working vehicle terminal, is used for sending data request information and terminal current version information to the map distribution module, receiving data and executing terminal map incremental updating.

[0010] Further, the map data management module organizes and manages the open-pit mine high-precision map in a manner of combining partition and layering, manages in layers according to mine partition and independently incrementally updatable element layers, the layers comprise a loading area, an unloading area, an auxiliary working area, an obstacle, a lane tracking line, a road drivable boundary, a parking position and others, when one or more layer versions of map data are increased, a full high-precision map version number is simultaneously increased, and high-precision map data can be obtained according to a mine, a version number, a layer and time information.

[0011] The application further provides an open-pit mine high-precision map dynamic updating method, which is dynamically updated by using the above-mentioned open-pit mine high-precision map dynamic updating system and comprises the following steps:

[0012] S1, the map updating module judges a mode based on crowd-sourcing collection vehicles, obtains a working mode thereof, judges a contribution degree to a cloud map based on the working mode, and selects whether to update a map according to the contribution degree;

[0013] S2, the map distribution module differentiates a map updating version and a currently activated and used map version, obtains map updating data content, acquires a real-time position and road right position information of a terminal on a high-precision map, calculates whether the map updating data content affects a current task execution of a working vehicle terminal, determines a terminal map updating timing according to whether the terminal current position and this task are affected by updating, and

[0014] S3, according to the terminal map update occasion, the map distribution module sends a terminal update map request to the vehicle dispatching command module, the dispatching command module sends a parking update map instruction to the terminal, and the terminal completes parking after receiving the instruction;

[0015] S4, the terminal map update module sends data request information and the current terminal map version information to the map distribution module, the map distribution module responds to the data request of the terminal, queries the version number information of each layer corresponding to the current terminal map version number, compares the version number information of each layer corresponding to the latest version of the current map, and returns that the terminal map version does not exist update information if the version number of each layer does not change; if the comparison result indicates that the terminal layer version number is lower than the latest version number of the layer, it means that the layer has changed, and the changed layers and the target version number are calculated in this way, and the difference between the changed terminal layer version and the update data layer version data is executed to obtain the terminal map incremental data;

[0016] S5, the map distribution module sends the terminal map incremental data to the terminal;

[0017] S6, the map distribution module receives the terminal data download request, and the download data at least includes target version and target layer data, the terminal map update module receives the download data, performs MD5 integrity check, and then executes the terminal map incremental update;

[0018] S7, the work vehicle terminal feeds back to the dispatching command module after the map update is completed, the dispatching command module re-plans the path according to the original target of the terminal and the updated map, and sends a vehicle task instruction to the terminal;

[0019] S8, the work vehicle terminal performs self-checking after power-on, the terminal map update module compares the current latest version information with the terminal local map version information, if the versions are inconsistent, the terminal obtains the update version data and immediately updates the map.

[0020] Further, the step S1, according to the contribution degree, whether the map is updated, the update strategy includes:

[0021] 1) Incremental upload mode: if there is a non-overlapping area between the vehicle terminal map and the global map, the incremental upload mode is selected;

[0022] 2) Global map upload mode: if the vehicle terminal map fully covers the cloud map, the global map upload mode is performed.

[0023] Further, the step S1, the contribution degree judgment method is as follows:

[0024] 1) Vehicle terminal map and cloud map overlapping area judgment, if the cloud map M C is a certain vehicle terminal map M Va subset of V, consider that the contribution of the vehicle-side map is 100%, and perform a global map uploading mode;

[0025]

[0026] 2) When the same type of multiple vehicles repeatedly collect the same area, the uploading vehicle is determined by the contribution, and the uploading mode is determined by the intersection with the cloud-side map; wherein the contribution is calculated based on the following formula:

[0027]

[0028] In the formula, is the contribution of the V-type vehicle to the current area, is the contribution of the ith vehicle to the current area, is the point cloud map contributed by the ith vehicle;

[0029] 3) When vehicles of different types collect the same area, the contribution of the cloud-side map is determined by the contribution of the area, the vehicle-side map uploading the cloud-side map is determined, the redundant map data interference is excluded, and the uploading mode is determined by the intersection with the cloud-side map;

[0030]

[0031] In the formula, is the contribution of the x-type vehicle to the current area, M x is the point cloud map contributed by the x-type vehicle.

[0032] Further, in the step S2, the map distribution module differentiates the map update version and the currently activated and used map version to obtain the map update data content, specifically: in the database, the version field is differentiated and queried to obtain the version incremental update content, the incremental update content includes the differentiated version number, the updated element ID, the change content, and the change type, wherein the change type identifies addition, deletion, and modification, and the change content includes the updated attribute field and the update content of the attribute field.

[0033] Further, in the step S2, the real-time position and the right position information of the terminal on the high-precision map are obtained, and it is calculated whether the map update data content affects the current task execution of the work vehicle terminal, wherein the principle of judging whether the task is affected is:

[0034] 1) The terminal is in the changed road area, but the change content does not affect the normal loading and unloading task, and the update is temporarily not performed;

[0035] 2) The terminal is in the changed road area, and the change content affects the normal loading and unloading task, and the update is performed by stopping.

[0036] Further, the step S2 determines the terminal map updating opportunity according to the current position of the terminal and whether the current task is affected by the update, specifically:

[0037] 1) the terminal is currently in the change affected section, the quick parking update instruction is issued to the terminal, and the terminal needs to immediately stop and perform map update after parking;

[0038] 2) the future driving path of the current task of the terminal involves the change affected section, the quick parking update instruction is issued to the terminal, and the terminal needs to complete the update before the change section;

[0039] 3) the current task is not affected by the map change, and the map update instruction is issued when the terminal is in the loading or unloading state, and the map update is performed;

[0040] 4) the terminal is not online, and the update is not performed.

[0041] The present application has the beneficial effects compared with the prior art:

[0042] (1) a multi-mode crowdsourcing map updating strategy based on contribution degree is adopted, mode judgment is performed based on the vehicle end of mine transport vehicles, working vehicles and cars, the contribution degree of the cloud map is judged based on the working mode of various vehicles, and whether the map is updated is selected;

[0043] (2) a vehicle end map updating module based on vehicle position and task path is adopted, whether the current vehicle driving route conflicts with the map upload is judged through the vehicle state obtained by the platform end, so as to confirm the vehicle end map updating strategy;

[0044] (3) a data difference issuing module is adopted, the incremental judgment and control of each layer data in different versions are performed, the range of the layer to be updated is determined, and the technical problems of vehicle operation task interruption, long update time and waste of traffic caused by map updating based on data version are solved. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 is a schematic diagram of a high-precision map dynamic updating system in the present application;

[0046] Figure 2 is a schematic diagram of a high-precision map dynamic updating method in the present application. DETAILED DESCRIPTION

[0047] In order for those skilled in the art to better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0048] In order for those skilled in the art to better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0049] The high-precision map is a map serving unmanned driving, and has the characteristics of higher precision, more data dimensions, and faster update frequency. The high-precision map of the open-pit mine should at least include the following layers according to the operation requirements of the mine unmanned driving system: loading area, unloading area, auxiliary working area, obstacle, lane, road drivable boundary, parking position, and others.

[0050] The present application provides a high-precision map dynamic updating system for open-pit mine, as shown in Figure 1 The dynamic updating system comprises an open-pit mine high-precision map subsystem, a dispatching command module, and a terminal map updating module.

[0051] The open-pit mine high-precision map subsystem comprises a map data management module, a map updating module, and a map distribution module. The map updating module determines an updating strategy based on the contribution degree of a crowdsourcing collection vehicle, and updates the map data through automation, semi-automation, or manual mode according to the updated map elements. The map data management module is used to manage the high-precision map data of each version of the mine area produced by the map updating module. The map distribution module judges the timing of updating the map of the terminal according to the version update content, the real-time position of the terminal, the road right, and the task path, and provides the full amount or incremental data of the version to the terminal according to the version information.

[0052] The dispatching command module is mounted on a working vehicle terminal, and is used to receive the terminal updating map requirement sent by the map distribution module, send the parking map updating instruction to the terminal, receive the feedback of the terminal map updating completion, and re-plan the path according to the original target of the terminal and the updated map, and send the vehicle task instruction to the terminal.

[0053] The terminal map updating module is mounted on a working vehicle terminal, and is used to send the data request information and the current version information of the terminal to the map distribution module, receive the data, and perform the incremental updating of the terminal map.

[0054] In particular, the map data management module organizes and manages the open-pit mine high-precision map in a combination of zoning and layering, manages in layers according to mine zoning and elements that can be independently incrementally updated, the layers include loading area, unloading area, auxiliary working area, obstacle, lane tracking line, road drivable boundary, parking position, and others; when one or more versions of the map data increase, the version number of the full high-precision map increases simultaneously; the high-precision map data can be obtained according to the mine area, version number, layer, and time information.

[0055] The application also provides an open-pit mine high-precision map dynamic updating method, as shown in the figure, comprising the following steps: Figure 2

[0056] a) The map updating module adopts a multi-mode crowdsourcing map updating strategy based on contribution degree, that is, the mode of the vehicle end such as mine transport vehicles, working vehicles, and cars is judged, the contribution degree of the vehicle end to the cloud map is judged based on the working mode of each type of vehicle, and then it is determined whether the map is updated and whether the map is incrementally updated. The principles are as follows:

[0057] 1) When the new retaining wall conflicts with the original path and the speed limit is limited, the boundary needs to be re-collected, and if the new boundary is too close to the original lane, the lane needs to be re-collected;

[0058] 2) The road position changes, such as translation, extension, etc., and the lane and boundary need to be re-collected;

[0059] 3) New loading and unloading areas and roads, intersections, etc. leading to the area need to be re-collected;

[0060] 4) New lane retaining walls or turntables need to be re-collected, and if they are too close to the original lane, the lane needs to be re-collected.

[0061] The updating strategy includes:

[0062] 1) Incremental upload mode: if there is a non-overlapping area between the vehicle end map and the global map, the incremental upload mode is selected;

[0063] 2) Global map upload mode: if the vehicle end map fully covers the cloud map, the global map upload mode is selected;

[0064] The contribution degree judgment method is as follows:

[0065] 1) Overlapping area judgment of vehicle end map and cloud map: if the cloud map M C is a subset of a certain vehicle end map M V , it is considered that the contribution degree of the vehicle end map is 100%, and the global map upload mode is selected;

[0066] ​

[0067] 2) When the same type of multiple vehicles repeatedly collect the same area, the uploading vehicle is determined by the contribution degree, and the uploading mode is determined by the intersection with the cloud map;

[0068] wherein the contribution degree is calculated based on the following formula:

[0069]

[0070] wherein, is the contribution degree of the V-type vehicle to the current area, is the contribution degree of the i-th vehicle to the current area, M Vi is the point cloud map contributed by the i-th vehicle;

[0071] 3) When vehicles of different types collect the same area, the cloud map update contribution degree is determined by the contribution degree of the area, the vehicle end uploading the cloud map is determined, the redundant map data interference is excluded, and the uploading mode is determined by the intersection with the cloud map;

[0072]

[0073] wherein, is the contribution degree of the x-type vehicle to the current area, M x is the point cloud map contributed by the x-type vehicle;

[0074] b) The map distribution module differentiates the map update version and the currently activated and used map version to obtain the map update data content. Specifically, the version increment update content is obtained by differentiating the data version field in the database, and the increment update content includes the differentiated version number, the updated element ID, the change content, and the change type, wherein the change type should identify the increase, deletion, and change, and the change content can include the updated attribute field and the update content of the attribute field.

[0075] c) The map distribution module obtains the real-time position of the terminal on the high-precision map and the road right position information, and judges whether the map update content affects the current task execution of the vehicle. The principles for judging whether the task is affected are as follows:

[0076] ① The terminal is in the changed road area, but the change content (such as road ID and road right information) does not affect the normal loading and unloading task, so the update is temporarily not performed;

[0077] ② The terminal is in the changed road area, and the change content (such as lane line shape, maximum speed limit, and road boundary) affects the normal loading and unloading task, so the terminal needs to be stopped for updating;

[0078] d) The map distribution module determines the terminal map updating time according to whether the current position of the terminal and the task are affected by the update:

[0079] ① The terminal is currently in a change affected section, and a quick parking update instruction is issued to the terminal, and the terminal needs to perform map update immediately after parking.

[0080] ② The terminal's future driving path involves a change affected section, and a quick parking update instruction is issued to the terminal, and the terminal needs to complete the update before the change section.

[0081] ③ The current task is not affected by the map change, and the map update instruction is issued when the terminal is in the loading or unloading state, and the map update is performed.

[0082] ④ The terminal is not online for the time being.

[0083] e) The map distribution module sends the terminal update map requirement to the vehicle dispatching command module.

[0084] f) The vehicle dispatching command module sends a parking update map instruction to the terminal.

[0085] g) The terminal receives the parking update instruction and completes the parking.

[0086] h) The terminal map update module sends data request information and the current map version information of the terminal to the map distribution module.

[0087] i) The map distribution module responds to the data request of the terminal, queries the version number information of each layer corresponding to the current map version number of the terminal, compares the version number of each layer corresponding to the latest version of the current map, and returns the terminal map version update information if the version number of each layer does not change; if the comparison result indicates that the terminal layer version number is lower than the latest version number of the layer, it means that the layer has changed, and the target version number and the target layer version data are calculated in this way, and the difference between the changed terminal layer version and the update data layer version data is executed to obtain the terminal map incremental data.

[0088] j) The map distribution module sends the terminal map incremental data to the terminal, including the target version number, the target update layer and its version number, and the target layer version map incremental data.

[0089] k) The map distribution module receives the terminal data download request, and the downloaded data at least includes the target version target layer data.

[0090] l) After receiving the downloaded data, the terminal map update module performs terminal map incremental update after the data files pass the MD5 integrity check.

[0091] m) The terminal feeds back to the dispatching command module that the map update is complete.

[0092] n) The dispatching module re-plans the path according to the original target of the terminal and the updated map and issues a vehicle task instruction to the terminal.

[0093] o) The terminal map updating module compares the current latest version information with the local map version information of the terminal during the power-on self-test. If the versions are inconsistent, the terminal obtains the updated version data and immediately updates the map.

Claims

1. A method for dynamic updating of high-precision maps of an open pit mine, characterized in that, The high-precision map of the open-pit mine is dynamically updated by using an open-pit mine high-precision map dynamic updating system, and the high-precision map of the open-pit mine at least comprises the following layers: a loading area, an unloading area, an auxiliary working area, an obstacle, a lane, a road drivable boundary, a parking position, and others; the dynamic updating system comprises an open-pit mine high-precision map subsystem, a dispatching and command module, and a terminal map updating module; The open-pit mine high-precision map subsystem comprises a map data management module, a map updating module, and a map distribution module; the map updating module determines an updating strategy based on the contribution degree of a crowdsourcing collection vehicle, and updates the map data by using an automatic / semi-automatic / manual method according to different updated map elements; the map data management module is used for managing the high-precision map data of each version of the mine area produced by the map updating module; the map distribution module judges the timing of updating the map of the terminal according to the version updating content, the real-time position of the terminal, the road right, and the task path, and provides the terminal with full or incremental data of the version according to the version information by performing data difference; The dispatching and command module is mounted on a working vehicle terminal, is used for receiving the requirement of updating the map of the terminal sent by the map distribution module, sending a parking map updating instruction to the terminal, receiving the feedback of the completion of the map updating of the terminal, and re-planning a path according to the original target of the terminal and the updated map and sending a driving task instruction to the terminal; The terminal map updating module is mounted on a working vehicle terminal, is used for sending data request information and the current version information of the terminal to the map distribution module, receiving data and performing incremental updating of the map of the terminal, and comprises the following steps: S1, the map updating module judges the mode based on the crowdsourcing collection vehicle, obtains the working mode thereof, judges the contribution degree of the cloud map based on the working mode, and selects whether to update the map according to the contribution degree; S2, the map distribution module differentiates the map updating version and the currently activated and used map version to obtain the map updating data content, obtains the real-time position of the terminal on the high-precision map and the road right position information, calculates whether the map updating data content affects the execution of the current task of the working vehicle terminal, and determines the timing of updating the map of the terminal according to whether the current position of the terminal and the task are affected by the updating; S3, according to the timing of updating the map of the terminal, the map distribution module sends the requirement of updating the map of the terminal to the vehicle dispatching and command module, the dispatching and command module sends a parking map updating instruction to the terminal, and the terminal completes parking after receiving the instruction. S4, the terminal map update module sends data request information and the terminal current map version information to the map distribution module, the map distribution module responds to the data request of the terminal, queries the version number information of each layer corresponding to the terminal current map version number, compares the version number information of each layer corresponding to the latest version of the current map, if the version number of each layer does not change, the terminal map version update information is returned; if the comparison result indicates that the terminal layer version number is lower than the latest version number of the layer, it means that the layer has changed, and the changed layer and the target version number are calculated in this way, and the difference between the changed terminal layer version and the update data layer version data is executed, and the terminal map incremental data is obtained; S5, the map distribution module sends the terminal map incremental data to the terminal; S6, the map distribution module receives the terminal data download request, and the download data at least includes target version and target layer data, the terminal map update module receives the download data, performs MD5 integrity check, and then executes the terminal map incremental update; S7, the working vehicle terminal feeds back to the scheduling command module after the map update is completed, the scheduling command module re-plans the path according to the original target of the terminal and the updated map and sends the task instruction to the terminal; S8, the working vehicle terminal is powered on and self-checked, the terminal map update module compares the current latest version information with the terminal local map version information, if the versions are inconsistent, the terminal obtains the update version data and immediately updates the map.

2. The method of claim 1, wherein, The step S1, whether the map is updated is selected according to the contribution degree, and the update strategy includes: 1) incremental upload mode: if there is a non-overlapping area between the terminal map and the global map, the incremental upload mode is selected; 2) global map upload mode: if the terminal map fully covers the cloud map, the global map upload mode is performed.

3. The method of claim 2, wherein, The contribution degree judgment method is as follows: 1) Vehicle end map and cloud end map overlap area judgment, if cloud end map M C is a subset of a certain vehicle end map M V , it is considered that the contribution degree of the vehicle end map is 100%, and the global map uploading mode is performed; 2) when the same type of multiple vehicles repeatedly collect the same area, the contribution degree is used to determine the uploaded vehicle, and the upload mode is determined by the intersection with the cloud map; wherein the contribution degree is calculated based on the following formula: In the formula, is the contribution degree of the Vth vehicle to the current region, is the contribution degree of the ith vehicle to the current region, M Vi is the point cloud map contributed by the ith vehicle; 3) when different types of vehicles collect the same area, the contribution degree of the area is used to determine the contribution degree of the cloud map update, the terminal uploading the cloud map is determined, the redundant map data interference is excluded, and the upload mode is determined by the intersection with the cloud map; In the formula, is the contribution degree of the xth category vehicle to the current area, M x is the point cloud map contributed by the xth category vehicle.

4. The method of claim 3, wherein, The step S2, the map distribution module differentiates the map update version and the currently activated and used map version to obtain the map update data content, specifically: in the database, the version field is differentiated to query the version incremental update content, the incremental update content includes the differentiated version number, the updated element ID, the change content and the change type, wherein the change type indicates addition, deletion and modification, and the change content includes the updated attribute field and the update content of the attribute field.

5. The method of claim 4, wherein, The step S2, the real-time position and the right position information of the terminal on the high-precision map are obtained, and whether the map update data content affects the current task execution of the working vehicle terminal is calculated, wherein the principle of whether the task is affected is: 1) the terminal is in the changed road area, but the change content does not affect the normal loading and unloading task, so the update is temporarily not performed; 2) The terminal is in a changed road area, and the change content affects the normal loading and unloading task, so the terminal is parked to update.

6. The method of claim 5, wherein, In the step S2, the terminal map updating time is determined according to the current position of the terminal and whether the current task is affected by the update, specifically: 1) The terminal is currently in a changed influence section, a quick parking update instruction is issued to the terminal, and the terminal needs to perform map updating immediately after parking; 2) The future driving path of the current task of the terminal involves a changed influence section, a quick parking update instruction is issued to the terminal, and the terminal needs to complete the update before the changed section; 3) The current task is not affected by the map change, and the map updating instruction is issued when the terminal is parked in the loading or unloading state to perform the map updating; 4) The terminal is not online, and the update is temporarily not performed.

7. The method of claim 6, wherein, The map data management module organizes and manages the high-precision map of the open-pit mine in a combined manner of partition and layering, manages the layers according to the partition of the mine area and the elements that can be independently incrementally updated, the layers include loading area, unloading area, auxiliary working area, obstacle, lane tracking line, road drivable boundary, parking position, and others; when one or more layers of the map data have version increase, the full-precision map version number is increased simultaneously; the high-precision map data can be obtained according to the mine area, version number, layer, and time information.

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