Unloading area map processing method, system, and storage medium

Abstract

The present disclosure provides a kind of unloading area map processing method, system and storage medium, the method in which includes: map acquisition unit periodically acquires the first global map of unloading area, first map update unit updates first local map data, second map update unit updates second local map data, map management unit generates second global map based on first global map, first local map data and second local map data;Unloading collision simulation unit constructs unloading area three-dimensional terrain based on second global map data, generates non-collision virtual reference plane.The present disclosure can update the map of unloading area by the map data collected by multiple vehicles, avoid appearing blind area, real-time good;It can realize the map update of unloading area of multiple vehicles, adapt to the actual operation process of unloading area;Non-collision virtual reference plane is generated by unloading collision simulation, realizes the two-way interaction of map and actual operation, improves the safety of unloading area operation.

Description

Technical Field

[0001] This disclosure relates to the field of electronic map technology, and in particular to a method, system, and storage medium for processing unloading area maps. Background Technology

[0002] In open-pit mines and similar unloading areas, the process is constantly changing due to multiple vehicle operations. To ensure smooth unloading of unmanned mining trucks, auxiliary unloading vehicles need to clear obstacles in real time, and retaining walls need to be rebuilt near the unloading point after the unmanned mining trucks have finished unloading. When a single vehicle updates a rapidly changing unloading area, there are drawbacks such as large blind spots and real-time lag. Furthermore, the rebuilding of retaining walls is done blindly without reference points, which can lead to substandard construction causing collisions between the cargo box and the retaining wall, ultimately interrupting the unloading process. Currently, there is no technical solution for multi-vehicle updates in unloading area scenarios, making it unsuitable for the actual operational processes in unloading areas. Summary of the Invention

[0003] In view of this, one technical problem to be solved by the present invention is to provide a method, system and storage medium for processing unloading area maps.

[0004] According to a first aspect of this disclosure, a method for processing unloading area maps is provided, comprising: a map acquisition unit periodically acquiring a first global map of the unloading area and sending the first global map to a map management unit; wherein the map acquisition unit is located in a map acquisition vehicle, and the map management unit is located in a cluster center; a first map update unit updating first local map data and sending the first local map data to the map management unit; wherein the first map update unit is located in a mineral transportation device; a second map update unit updating second local map data and sending the second local map data to the map management unit; wherein the second map update unit is located in a mineral unloading auxiliary device; the map management unit generating a second global map based on the first global map, the first local map data, and the second local map data, and sending the second global map to an unloading collision simulation unit; wherein the unloading collision simulation unit is located in a simulation center; the unloading collision simulation unit constructing a three-dimensional terrain of the unloading area based on the second global map data, performing unloading simulation on the three-dimensional terrain of the unloading area, generating a non-collision virtual reference plane and sending it to the second map update unit through the map management unit, so that the second map update unit can perform retaining wall correction processing.

[0005] Optionally, the first map update unit updating the first local map data and sending the first local map data to the map management unit includes: when the mineral transport equipment arrives at the entry point of the unloading area, the first map update unit receives the second global map data sent by the map management unit to form the first local map data; during the operation of the mineral transport equipment, the first map update unit receives the first map acquisition data collected by the first map acquisition device of the mineral transport equipment and updates the first local map data based on the first map acquisition data; when the mineral transport equipment leaves the unloading area, the first map update unit sends the first local map data to the map management unit.

[0006] Optionally, the first map update unit performs verification processing on the first map acquisition data; wherein, the verification processing includes at least one of the following: time synchronization of the first map acquisition data, removal of low-resolution data frames, removal of data frames under non-differential fixed solutions, interpolation between low-frequency data frames, and sparsity processing of high-frequency data frames; the first map update unit removes map data in the first map acquisition data that corresponds to registered vehicles.

[0007] Optionally, the first map update unit's removal of map data corresponding to registered vehicles from the first map acquisition data includes: the first map update unit receiving a list of registered vehicle information sent by the map management unit, wherein the information in the list of registered vehicle information includes: the IDs, location information, and corresponding minimum envelope relationships of all vehicles located in the unloading area; the first map update unit obtaining the location information of its own mineral transport equipment and its relative location information with other detected vehicles, and determining the location information of other vehicles; the first map update unit obtaining the IDs and minimum envelopes of registered vehicles based on the location information of other vehicles and the list of registered vehicle information; and the first map update unit removing map data located within the minimum envelope of the registered vehicles from the first map acquisition data.

[0008] Optionally, the second map update unit updating the second local map data and sending the second local map data to the map management unit includes: the second map update unit periodically receiving the second global map data sent by the map management unit to form the second local map data; the second map update unit receiving the second map acquisition data collected by the second map acquisition device of the mineral unloading auxiliary equipment; the second map update unit updating the map data within the envelope of the unloading points to be repaired in the second local map data; the second map update unit updating the second local map data based on the map data within the envelope of the unloading points to be repaired and the second map acquisition data; and the second map update unit periodically sending the updated second local map data to the map management unit.

[0009] Optionally, the second map update unit performs verification processing on the second map acquisition data; wherein, the verification processing includes at least one of the following: time synchronization of the second map acquisition data, removal of low-resolution data frames, removal of data frames under non-differential fixed solutions, interpolation between low-frequency data frames, and sparsity processing of high-frequency data frames; the second map update unit removes map data in the second map acquisition data that corresponds to registered vehicles.

[0010] Optionally, the second map update unit's removal of map data corresponding to registered vehicles from the second map acquisition data includes: the second map update unit receiving a list of registered vehicle information sent by the map management unit, the information in the list including: the IDs, location information, and corresponding minimum envelope relationships of all vehicles located in the unloading area; the second map update unit obtaining the location information of its own mineral unloading auxiliary equipment and its relative location information with other detected vehicles, and determining the location information of other vehicles; the second map update unit obtaining the IDs and minimum envelopes of registered vehicles based on the location information of other vehicles and the list of registered vehicle information; and the second map update unit removing map data located within the minimum envelope of the registered vehicles from the second map acquisition data.

[0011] Optionally, the map management unit registers and numbers all vehicles located in the unloading area, and generates a corresponding minimum envelope based on the size information of each vehicle; the map management unit generates the registered vehicle information list based on the ID, location information and corresponding minimum envelope of all vehicles.

[0012] Optionally, the second map update unit updates the map data within the envelope of the unloading point to be repaired in the second local map data as follows: the second map update unit delineates the envelope of the unloading point to be repaired with the unloading point to be repaired as the origin, and extracts the local map data within the envelope of the unloading point to be repaired in the second local map data as the original map data of the local retaining wall; the second map update unit uploads the envelope data of the unloading point to be repaired to the unloading collision simulation unit through the map management unit, and receives the non-collision virtual reference plane sent by the unloading collision simulation unit through the map management unit; the second map update unit filters the map data outside the envelope of the unloading point to be repaired in the second local map data, and retains the map data within the envelope of the unloading point to be repaired; the second map update unit segments the map data within the envelope of the unloading point to be repaired with the non-collision virtual reference plane as the segmentation plane, and performs color marking on the map data above the segmentation plane; the second map update unit updates the original map data of the local retaining wall in real time until there is no color-marked part in the second local map data.

[0013] Optionally, the unloading collision simulation unit constructs a three-dimensional terrain of the unloading area based on the second global map data, performs unloading simulation on the three-dimensional terrain of the unloading area, and generates a non-collision virtual reference plane, including: the unloading collision simulation unit constructs a three-dimensional terrain of the unloading area containing all retaining walls based on the second global map and updates it to form a new unloading surface; after forming the new unloading surface, the unloading collision simulation unit delineates the retaining walls according to the envelope data of the unloading points to be adjusted; the unloading collision simulation unit performs unloading operation simulation processing on the three-dimensional terrain of the unloading area to determine whether there is a collision point between the cargo box and the retaining wall during the unloading operation of the mineral transport equipment; the unloading collision simulation unit generates the non-collision virtual reference plane according to the determination result.

[0014] According to a second aspect of this disclosure, an unloading area map processing system is provided, comprising: a map acquisition unit disposed in a map acquisition vehicle, a map management unit disposed in a cluster center, a first map update unit disposed in a mineral transportation equipment, a second map update unit disposed in a mineral unloading auxiliary equipment, and an unloading collision simulation unit disposed in a simulation center; the map acquisition unit is used to periodically acquire a first global map of the unloading area and send the first global map to the map management unit; the first map update unit is used to update first local map data and send the first local map data to the map management unit; the second map update unit is used to update second local map data and send the second local map data to the map management unit; the map management unit is used to generate a second global map based on the first global map, the first local map data, and the second local map data, and send the second global map to the unloading collision simulation unit; the unloading collision simulation unit is used to construct a three-dimensional terrain of the unloading area based on the second global map data, perform unloading simulation on the three-dimensional terrain of the unloading area, generate a non-collision virtual reference plane and send it to the second map update unit through the map management unit so that the second map update unit can perform retaining wall correction processing.

[0015] Optionally, the first map update unit includes: a first map data transmission unit, configured to receive second global map data sent by the map management unit when the mineral transport equipment arrives at the entry point of the unloading area, and form the first local map data; a first map data acquisition unit, configured to receive first map acquisition data acquired by the first map acquisition device of the mineral transport equipment during the operation of the mineral transport equipment; a first local map unit, configured to update the first local map data based on the first map acquisition data; and the first map data transmission unit, configured to send the first local map data to the map management unit when the mineral transport equipment leaves the unloading area.

[0016] Optionally, the first map update unit includes: a first map data verification unit, used to verify the first map data; wherein the verification process includes at least one of: time synchronization of the first map data, removal of low-resolution data frames, removal of data frames under non-differential fixed solutions, interpolation between low-frequency data frames, and sparsity processing of high-frequency data frames; and a first registered vehicle removal unit, used by the first map update unit to remove map data corresponding to registered vehicles from the first map data.

[0017] Optionally, the first registered vehicle removal unit is configured to receive a list of registered vehicle information sent by the map management unit. The information in the list of registered vehicle information includes: the IDs, location information, and corresponding minimum envelope relationships of all vehicles located in the unloading area; obtain the location information of the mineral transport equipment it is located in and its relative location information with other detected vehicles, and determine the location information of other vehicles; based on the location information of other vehicles and the list of registered vehicle information, obtain the IDs and minimum envelopes of the registered vehicles; and remove map data located within the minimum envelope of the registered vehicles from the first map acquisition data.

[0018] Optionally, the second map update unit includes: a second map data transmission unit, used to periodically receive second global map data sent by the map management unit to form second local map data; a second map data acquisition unit, used to receive second map acquisition data acquired by the second map acquisition device of the mineral unloading auxiliary equipment; a local retaining wall update unit, used to update the map data within the envelope of the unloading points to be repaired in the second local map data; a second local map unit, used to update the second local map data based on the map data within the envelope of the unloading points to be repaired and the second map acquisition data; and the second map data transmission unit, used to periodically send the updated second local map data to the map management unit.

[0019] Optionally, the second map update unit includes: a second map data verification unit, used to perform verification processing on the second map acquisition data; wherein the verification processing includes at least one of: time synchronization of the second map acquisition data, removal of low-resolution data frames, removal of data frames under non-differential fixed solutions, interpolation between low-frequency data frames, and sparsity processing of high-frequency data frames; and a second registered vehicle removal unit, used to remove map data corresponding to registered vehicles from the second map acquisition data.

[0020] Optionally, the second registered vehicle removal unit is configured to receive a list of registered vehicle information sent by the map management unit. The information in the list of registered vehicle information includes: the IDs, location information, and corresponding minimum envelope relationships of all vehicles located in the unloading area; obtain the location information of the mineral unloading auxiliary equipment it is located in and its relative location information with other detected vehicles, and determine the location information of other vehicles; based on the location information of other vehicles and the list of registered vehicle information, obtain the IDs and minimum envelopes of the registered vehicles; and remove map data located within the minimum envelope of the registered vehicles from the second map acquisition data.

[0021] Optionally, the map management unit is used to register and number all vehicles located in the unloading area, generate corresponding minimum envelopes based on the size information of each vehicle, and generate the registered vehicle information list based on the IDs, location information, and corresponding minimum envelopes of all vehicles.

[0022] Optionally, the local retaining wall update unit is used to define the envelope of the unloading point to be repaired, with the unloading point to be repaired as the origin, and extract the local map data within the envelope of the unloading point to be repaired from the second local map data as the original map data of the local retaining wall; upload the envelope data of the unloading point to be repaired to the unloading collision simulation unit through the map management unit, and receive the non-collision virtual reference plane sent by the unloading collision simulation unit through the map management unit; filter the map data outside the envelope of the unloading point to be repaired in the second local map data, and retain the map data within the envelope of the unloading point to be repaired; segment the map data within the envelope of the unloading point to be repaired using the non-collision virtual reference plane as the segmentation plane, and color-mark the map data above the segmentation plane; and update the original map data of the local retaining wall in real time until there are no color-marked parts in the second local map data.

[0023] Optionally, the unloading collision simulation unit is used to construct and update the three-dimensional terrain of the unloading area containing all retaining walls based on the second global map to form a new unloading surface; after forming the new unloading surface, the retaining walls are delineated according to the envelope data of the unloading points to be repaired; unloading operation simulation processing is performed in the three-dimensional terrain of the unloading area to determine whether there is a collision point between the cargo box and the retaining wall during the unloading operation of the mineral transport equipment; and the non-collision virtual reference plane is generated according to the judgment result.

[0024] According to a third aspect of this disclosure, a computer-readable storage medium is provided that stores computer instructions which are executed by a processor as described above.

[0025] The unloading area map processing method, system, and storage medium disclosed herein can update the unloading area map using map data collected from multiple vehicles, avoiding blind spots and providing good real-time performance; it can realize multi-vehicle map updates in the unloading area, improving map update efficiency and adapting to the actual operation process of the unloading area; by generating a non-collision virtual reference plane through unloading collision simulation, it can realize two-way interaction between the map and actual operation, guiding the construction of retaining walls and avoiding collisions between cargo boxes and retaining walls; it can realize the linkage between simulation data and real map data, optimizing the actual operation process, improving the safety of unloading area operations, and increasing the efficiency of automated operations, thereby improving the user experience. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a flowchart illustrating an embodiment of the unloading area map processing method according to the present disclosure;

[0028] Figure 2 This is a schematic diagram of the process of sending first local map data to a map management unit in one embodiment of the unloading area map processing method according to the present disclosure;

[0029] Figure 3 This is a schematic diagram illustrating the process of removing map data of registered vehicles from the first map acquisition data in one embodiment of the unloading area map processing method according to the present disclosure.

[0030] Figure 4 This is a schematic diagram of the process of sending second local map data to a map management unit in one embodiment of the unloading area map processing method according to the present disclosure;

[0031] Figure 5 This is a schematic diagram illustrating the process of removing map data of registered vehicles from second map acquisition data in one embodiment of the unloading area map processing method according to the present disclosure.

[0032] Figure 6 This is a schematic diagram of the process of updating map data within the envelope of the unloading point to be modified in one embodiment of the unloading area map processing method according to the present disclosure;

[0033] Figure 7 This is a schematic diagram of the process for generating a non-collision virtual reference plane in one embodiment of the unloading area map processing method according to the present disclosure;

[0034] Figure 8 This is a schematic diagram illustrating an application scenario of an embodiment of the unloading area map processing method according to this disclosure;

[0035] Figure 9A This is a schematic diagram illustrating an application scenario of an embodiment of the unloading area map processing method according to this disclosure; Figure 9B and 9C A schematic diagram for determining whether a collision point exists;

[0036] Figure 10 This is a schematic diagram of modules according to an embodiment of the unloading area map processing system of this disclosure;

[0037] Figure 11 This is a schematic diagram of a first map update unit in one embodiment of the unloading area map processing system according to the present disclosure;

[0038] Figure 12 This is a schematic diagram of a second map update unit in one embodiment of the unloading area map processing system according to the present disclosure. Detailed Implementation

[0039] The present disclosure will now be described more fully with reference to the accompanying drawings, which illustrate exemplary embodiments of the present disclosure. The technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present disclosure, and not all embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present disclosure. The technical solutions of the present disclosure will be described in various aspects below with reference to the various figures and embodiments.

[0040] The terms "first" and "second" used in the following text are only used to describe the differences between the two and have no other special meaning.

[0041] Figure 1 This is a flowchart illustrating an embodiment of the unloading area map processing method according to the present disclosure, as follows: Figure 1 As shown:

[0042] Step 101: The map acquisition unit periodically acquires the first global map of the unloading area and sends it to the map management unit. The map acquisition unit is located in the map acquisition vehicle, and the map management unit is located in the cluster center. The unloading area can be an open-pit mine unloading area, etc.

[0043] Step 102: The first map update unit updates the first local map data and sends the first local map data to the map management unit. The first map update unit is located in the mineral transportation equipment, which can be various types of equipment, such as unmanned mining trucks (driverless mining trucks), etc.

[0044] Step 103: The second map update unit updates the second local map data and sends the second local map data to the map management unit. The second map update unit is located in the mineral unloading auxiliary equipment, which can be various types of equipment, such as unloading auxiliary operation vehicles.

[0045] Step 104: The map management unit generates a second global map based on the first global map, the first local map data, and the second local map data, and sends the second global map to the unloading collision simulation unit. The unloading collision simulation unit is located in the simulation center.

[0046] Step 105: The unloading collision simulation unit constructs a three-dimensional terrain of the unloading area based on the second global map data, performs unloading simulation on the three-dimensional terrain of the unloading area, generates a non-collision virtual reference plane and sends it to the second map update unit through the map management unit so that the second map update unit can perform retaining wall correction processing.

[0047] In one embodiment, the second global map data is point cloud data. The point cloud data is used to form a surface model composed of grids, i.e., the three-dimensional terrain of the unloading area. The three-dimensional terrain of the unloading area can be constructed based on the second global map data and using algorithms such as the Poisson algorithm and the Delaunay triangulation reconstruction algorithm.

[0048] The unloading collision simulation unit uses the second global map data of the unloading area to reconstruct the overall 3D model of the unloading area (generating the 3D terrain of the unloading area). Based on the envelope of the unloading point to be repaired, and in the reconstructed 3D model, at the unloading point corresponding to the real scene, it extracts the retaining wall with the corresponding envelope length and width. It simulates whether there is a collision between the cargo box and the retaining wall when the unmanned mining truck is unloading, and calculates the non-collision virtual reference plane. The non-collision virtual reference plane includes at least: the lowest plane with the corresponding length and width of the retaining wall extracted by the unloading collision simulation unit based on the envelope of the unloading point to be repaired, and calculated to ensure that the cargo box and the retaining wall do not collide during unloading operations at the unloading point, and which corresponds to the length and width of the envelope of the unloading point to be repaired.

[0049] In one embodiment, a map collection vehicle periodically (e.g., daily, weekly) collects a first global map of the unloading area and uploads it to the map management unit at the cluster center. The first map update unit of the unmanned mining truck performs a first local map data update, and the second map update unit of the unloading auxiliary vehicle performs a second local map data update.

[0050] The map management unit at the cluster center performs a second global map update for the unloading area and synchronizes the second global map data to the unloading collision simulation unit at the simulation center for 3D terrain reconstruction of the unloading area. When receiving map data from only a single vehicle, the map management unit directly performs a second global map update for the unloading area; when receiving map data from multiple vehicles simultaneously, the map management unit merges the map data from multiple vehicles, extracts the latest timestamp portion from the overlapping map data, and performs a second global map update for the unloading area.

[0051] Several methods can be used to merge map data from multiple vehicles. For example, existing octree management methods can be used for map data merging. The vehicle-side point cloud data is first converted into an octree data structure. First, occupied voxel grids are updated: when a voxel grid in the vehicle-side local octree map is occupied, it is checked whether the corresponding voxel in the fleet-side octree map is occupied; if not, it is updated. Next, idle voxel grids are updated: when a voxel grid in the vehicle-side local octree map is idle, it is checked whether the corresponding voxel in the fleet-side octree map is idle; if occupied or unknown, it is updated to an idle grid. Finally, a global octree map is constructed; this global octree map is then converted into a point cloud map (the second global map).

[0052] The map management unit sends the latest updated global map data to the unloading collision simulation unit in the simulation center. The unloading collision simulation unit in the simulation center performs unloading simulation on the reconstructed 3D terrain of the unloading area and sends a non-collision virtual reference plane to the second map update unit of the unloading auxiliary vehicle.

[0053] Figure 2 This is a schematic diagram illustrating the process of sending first local map data to a map management unit in one embodiment of the unloading area map processing method according to this disclosure, as shown below. Figure 2 As shown:

[0054] Step 201: When the mineral transport equipment arrives at the entry point of the unloading area, the first map update unit receives the second global map data sent by the map management unit and forms the first local map data.

[0055] Step 202: During the operation of the mineral transportation equipment, the first map update unit receives the first map acquisition data collected by the first map acquisition device of the mineral transportation equipment, and updates the first local map data based on the first map acquisition data.

[0056] In one embodiment, the first map acquisition device can be a variety of devices, such as one or more lidars installed on a mineral transport device, which acquire the first map acquisition data through the lidar.

[0057] Step 203: When the mineral transport equipment leaves the unloading area, the first map update unit sends the first local map data to the map management unit.

[0058] In one embodiment, the first map update unit performs verification processing on the first map acquisition data. This verification processing includes one or more of the following: time synchronization of the first map acquisition data, removal of low-resolution data frames, removal of data frames with non-differential fixed solutions, interpolation between low-frequency data frames, and sparsity processing of high-frequency data frames. The first map update unit also removes map data corresponding to registered vehicles from the first map acquisition data.

[0059] In one embodiment, such as Figure 8 As shown, in one application scenario of the unloading area map processing method disclosed herein, there are unloading area boundary 801, unloading auxiliary vehicle 802, unloading auxiliary vehicle minimum envelope 803, unloading point to be repaired 804, unloading point envelope to be repaired 805, unmanned mining truck 806, unmanned mining truck minimum envelope 807, unloading point 808, entry point 809, entry path 810, exit path 811, exit point 812, map collection vehicle 813, and map collection vehicle minimum envelope 814, etc.

[0060] The unmanned mining truck 806 uses a first map acquisition device to collect map data, receiving the second global map data of the unloading area at the entry point 809 to form the first local map data. Throughout the entire operation—from the unmanned mining truck traveling along the entry path 810, unloading at the unloading point 808, and then exiting along the exit path 811—map data is collected by the truck's forward and rearward radars. At the entry point 809, the map management unit at the fleet center sends the latest version of the second global map data of the unloading area to the first map update unit of the unmanned mining truck 806, forming the first local map data of the unmanned mining truck 806.

[0061] The first map update unit performs time synchronization, removes low-resolution data frames, removes data frames with non-differential fixed solutions, interpolates between low-frequency data frames, and performs sparsity processing on high-frequency data frames in all data frames transmitted by the first map acquisition device, thereby improving the output quality of map data. Various existing methods for interpolating between low-frequency data frames and performing sparsity processing on high-frequency data frames can be employed.

[0062] Throughout the entire operation of the unmanned mining truck traveling along entry path 810, unloading at unloading point 808, and then exiting along exit path 811, the first map update unit continuously merges the map data after removing the vehicle with the original onboard local map data to form new first local map data. For example, an octree data structure is used for merging: after the onboard local map is initially formed, it is converted into a vehicle-side local octree map; the real-time map data after removing the vehicle is converted into an octree structure; the real-time octree map data after removing the vehicle is used to incrementally update the vehicle-side local octree map; and the vehicle-side local octree map is converted into a point cloud map (first local map data). After the unmanned mining truck passes exit point 812 and leaves the unloading area, it uploads the first local map data to the map management unit at the cluster center.

[0063] Figure 3 This is a schematic diagram illustrating the process of removing map data of registered vehicles from the first map acquisition data in one embodiment of the unloading area map processing method according to this disclosure, as shown below. Figure 3 As shown:

[0064] Step 301: The first map update unit receives the list of registered vehicle information sent by the map management unit. The information in the list of registered vehicle information includes the IDs, location information, and corresponding minimum envelope relationships of all vehicles located in the unloading area.

[0065] Step 302: The first map update unit obtains the location information of the mineral transport equipment it is located in and the relative location information of other detected vehicles, and determines the location information of other vehicles.

[0066] Step 303: The first map update unit obtains the IDs and minimum envelopes of the registered vehicles based on the location information of other vehicles and the list of registered vehicle information.

[0067] Step 304: The first map update unit removes map data located within the minimum envelope of registered vehicles from the first map acquisition data.

[0068] Figure 4 This is a schematic diagram illustrating the process of sending second local map data to a map management unit in one embodiment of the unloading area map processing method according to this disclosure, as shown below. Figure 4 As shown:

[0069] Step 401: The second map update unit periodically receives the second global map data sent by the map management unit to form the second local map data.

[0070] Step 402: The second map update unit receives the second map acquisition data collected by the second map acquisition device of the mineral unloading auxiliary equipment.

[0071] In one embodiment, the second map acquisition device can be a variety of devices, such as one or more lidars installed on a mineral unloading auxiliary device, which acquire second map acquisition data through lidars.

[0072] Step 403: The second map update unit updates the map data within the envelope of the unloading points to be repaired in the second local map data.

[0073] Step 404: The second map update unit updates the second local map data based on the map data within the envelope of the unloading point to be repaired and the second map acquisition data.

[0074] Step 405: The second map update unit periodically sends the updated second local map data to the map management unit.

[0075] In one embodiment, the second map updating unit performs verification processing on the second map acquisition data. The verification processing includes at least one of the following: time synchronization of the second map acquisition data, removal of low-resolution data frames, removal of data frames with non-differential fixed solutions, interpolation between low-frequency data frames, and sparsity processing of high-frequency data frames. The second map updating unit also removes map data corresponding to registered vehicles from the second map acquisition data.

[0076] Figure 5 This is a schematic diagram illustrating the process of removing map data of registered vehicles from the second map acquisition data in one embodiment of the unloading area map processing method according to this disclosure. Figure 5 As shown:

[0077] Step 501: The second map update unit receives the list of registered vehicle information sent by the map management unit. The information in the list of registered vehicle information includes the IDs, location information, and corresponding minimum envelope relationships of all vehicles located in the unloading area.

[0078] Step 502: The second map update unit obtains the location information of the mineral unloading auxiliary equipment where it is located and the relative location information of other detected vehicles, and determines the location information of other vehicles.

[0079] Step 503: The second map update unit obtains the IDs and minimum envelopes of the registered vehicles based on the location information of other vehicles and the list of registered vehicle information.

[0080] Step 504: The second map update unit removes map data located within the minimum envelope of registered vehicles from the second map acquisition data.

[0081] In one embodiment, the map management unit registers and numbers all vehicles located in the unloading area, and generates a corresponding minimum envelope based on the size information of each vehicle. The map management unit then generates a list of registered vehicles based on the IDs, location information, and corresponding minimum envelopes of all vehicles.

[0082] Figure 6 This is a schematic diagram illustrating the process of updating map data within the envelope of the unloading point to be modified, according to one embodiment of the unloading area map processing method of this disclosure. Figure 6 As shown:

[0083] Step 601: The second map update unit uses the unloading point to be repaired as the origin, delineates the envelope of the unloading point to be repaired, and extracts the local map data within the envelope of the unloading point to be repaired from the second local map data as the original map data of the local retaining wall.

[0084] Step 602: The second map update unit uploads the envelope data of the unloading point to be modified to the unloading collision simulation unit through the map management unit, and receives the non-collision virtual reference plane sent by the unloading collision simulation unit through the map management unit.

[0085] Step 603: The second map update unit filters the map data outside the envelope of the unloading point to be repaired in the second local map data, and retains the map data inside the envelope of the unloading point to be repaired.

[0086] Step 604: The second map update unit uses the non-collision virtual reference plane as the dividing plane to divide the map data within the envelope of the unloading point to be repaired, and performs color marking on the map data above the dividing plane.

[0087] Step 605: The second map update unit updates the original map data of the local retaining wall in real time until there are no color-marked parts in the second local map data.

[0088] In one embodiment, such as Figure 8 As shown, the unloading auxiliary vehicle 802 uses a second map acquisition device to collect map data, periodically (e.g., every 1 hour, every 2 hours) receiving the second global map data of the unloading area to form the vehicle-mounted second local map data. During driving and operation, the second map acquisition device uses forward and top radars to collect map data. The map management unit at the fleet center periodically (e.g., every 1 hour, every 2 hours) sends the latest version of the second global map data of the unloading area to the second map update unit, forming the second local map data at the unloading auxiliary vehicle end.

[0089] The second map update unit performs time synchronization, removes low-resolution data frames, removes data frames without differential fixed solutions, interpolates between low-frequency data frames, and performs sparsity processing on high-frequency data frames to improve the quality of map data output. For detected registered vehicles, the second map update unit removes the corresponding map data and updates the map data within the envelope of the unloading point to be corrected, forming a second local map data. This second local map data is periodically (e.g., every 10 minutes, 20 minutes, etc.) uploaded to the map management unit at the fleet center.

[0090] All vehicles in the unloading area are registered at the fleet center and assigned ID numbers. The fleet center then calculates the minimum circular envelope of the outer contour for each vehicle based on its dimensions. For example... Figure 8 As shown, the registered vehicles include at least map collection vehicle 813, unloading auxiliary vehicle 802, and unmanned mining truck 806. The envelopes include at least the minimum envelope of the map collection vehicle 814, the minimum envelope of the unloading auxiliary vehicle 803, and the minimum envelope of the unmanned mining truck 807.

[0091] The map management unit at the cluster center merges the first and second local map data with the first global map data of the unloading area to form the updated second global map of the unloading area. Before the unmanned mining truck enters the site, the updated second global map is sent to the onboard local map unit, along with the registered vehicle IDs, envelope lines, and a list of location information to the unmanned mining truck. The envelope line is a set of three-dimensional location points centered on the vehicle. The map management unit periodically sends the second global map to the onboard local map unit of the unloading auxiliary vehicle, along with the registered vehicle IDs, envelope lines, and a list of location information to the unloading auxiliary vehicle. The map management unit synchronizes the updated second global map and the unloading point envelope lines to be adjusted to the unloading collision simulation unit at the simulation center in real time.

[0092] Several methods can be used to generate the envelope. For example, establish a vehicle coordinate system with the rear axle center as the origin, and front (X) - left (Y) - top (Z); obtain the map coordinates (X, Y, Z) of the rear axle center; determine the radius R of the circle that can enclose the vehicle with the rear axle center as the origin; divide the vehicle into fan-shaped angles with the rear axle center as the origin and clockwise as the positive direction, with the angle size being Delt_Cita; use R and Delt_Cita to calculate (X1_in_baselink, Y1_in_baselink); use the vehicle's three-axis angles to transform (X1_in_baselink, Y1_in_baselink) into (X1_in_map, Y1_in_map); the target point coordinates (X + X1_in_map, Y + Y1_in_map, Z) form a discrete point set.

[0093] The map management unit at the fleet center sends a list of registered vehicles (hereinafter referred to as the list) consisting of the absolute position information, IDs, and envelopes of all vehicles in the unloading area to the unmanned mining truck or unloading auxiliary vehicle. The unmanned mining truck 806 or unloading auxiliary vehicle 802 combines its own absolute position information with the relative position information of the registered vehicles detected by radar. The unmanned mining truck 806 or unloading auxiliary vehicle 802 matches the calculated absolute position of the registered vehicles with the list sent by the fleet, identifies the ID of the scanned vehicle, and obtains the envelope of that ID. The unmanned mining truck 806 or unloading auxiliary vehicle 802 uses the envelope of the scanned vehicle to filter, removing all data within the envelope and retaining only the map data outside the envelope.

[0094] like Figure 8 As shown, taking the unloading point 804 to be repaired as the origin, an envelope 805 is defined for the unloading point to be repaired. The vehicle-mounted local map data within the envelope 805 is extracted as the original map data for updating the local retaining wall. Data from the unloading point envelope 805 is uploaded, and a non-collision virtual reference plane is received. Data collected outside the unloading point envelope 805 is filtered, retaining only the data within the envelope 805. The map data within the unloading point envelope 805 is segmented using the non-collision virtual reference plane as the segmentation plane. Map data above the segmentation plane is color-coded. The retaining wall is repaired until the map data no longer has color-coded portions, with the original map data for the local retaining wall updated in real time during the process.

[0095] Figure 7 This is a schematic diagram illustrating the process of generating a non-collision virtual reference plane in one embodiment of the unloading area map processing method according to this disclosure, as shown below. Figure 7 As shown:

[0096] Step 701: The unloading collision simulation unit constructs and updates the 3D terrain of the unloading area containing all the barriers based on the second global map to form a new unloading surface.

[0097] Step 702: After the unloading collision simulation unit forms a new unloading surface, it delineates the retaining wall based on the envelope data of the unloading point to be repaired.

[0098] Step 703: The unloading collision simulation unit performs unloading operation simulation processing in the three-dimensional terrain of the unloading area to determine whether there is a collision point between the cargo box and the retaining wall during the unloading operation of the mineral transport equipment.

[0099] Step 704: The collision simulation unit is unloaded to generate a non-collision virtual reference plane based on the judgment result.

[0100] In one embodiment, unloading the collision simulation unit to generate a non-collision virtual reference plane can be achieved using various methods. Figure 9A The system includes the original unloading surface 901, the new unloading surface 902, the collision virtual reference plane 903, the collision point 904, the lowest point of the cargo box 905, the non-collision virtual reference plane 906, and the three-dimensional terrain coordinate axis 907 of the unloading area. The unloading collision simulation unit uses the second global map data of the unloading area to reconstruct the three-dimensional terrain of all retaining wall sections, forming the original unloading surface 901.

[0101] Based on the updated global map data of the unloading area, the 3D terrain is updated to form a new unloading surface 902. After the new unloading surface is formed, retaining wall sections are delineated based on the envelope of the unloading points to be adjusted. Under the reconstructed 3D terrain, the unloading collision simulation unit simulates the lifting of the cargo box by an unmanned mining truck at the unloading point corresponding to the real scene, calculating whether there is a collision point 904 between the lowest point 905 of the cargo box and the new unloading surface 902 during the process of lifting the box to its maximum angle.

[0102] For example, such as Figure 9B and 9C As shown, before lifting, in a horizontal state, with the rear axle center A as the origin, the coordinates of the two corner points B1 and B2 of the cargo box can be described, with B1 or B2 as the lowest point: (X_B1_baselink, Y_B1_baselink, Z_B1_baselink), (X_B2_baselink, Y_B2_baselink, Z_B2_baselink); and the coordinates of point A are mapped as (X_A_Map, Y_A_Map, Z_A_Map).

[0103] When the cargo box is lifted, the attitude of the upper cargo box (Roll_C, Pitch_C) is obtained through the inertial unit sensor C. At the same time, the attitude of A (Roll_A, Pitch_A) is obtained through the inertial navigation system. By default, the headings of A, B1, and B2 are the same. Transform the vehicle coordinates to the Map using the A / C attitude and the map coordinates of A: (X_B1_baselink, Y_B1_baselink, Z_B1_baselink) => (X_B1_map, Y_B1_map, Z_B1_map), (X_B2_baselink, Y_B2_baselink, Z_B2_baselink) => (X_B1_map, Y_B1_map, Z_B1_map); Solve for the vector B1C passing through B1 to the new unloading surface 902, and solve for the vector B2D passing through B2 to the new unloading surface 902; Determine if the directions of the two vectors are consistent. If they are consistent, there is no collision point 904; if they are inconsistent, there is a collision point 904; If there is a collision point 904, solve for the equation of the line passing through points B1 and B2, and solve for the plane equation of the new unloading surface 902.

[0104] Generate a non-collision virtual reference plane 906: If a collision point 904 occurs between the lowest point of the cargo box and the new unloading surface during the process of lifting the cargo box to its maximum angle, first calculate and generate a collision virtual reference plane 903 that passes through the collision point 904 and is parallel to the Y-axis of the three-dimensional terrain coordinate axis 907 of the unloading area at the current cargo box lifting angle. Continue simulating the cargo box lifting to its maximum angle, and calculate a non-collision virtual reference plane that passes through the lowest point 905 of the cargo box and is parallel to the Y-axis of the three-dimensional terrain coordinate axis 907 of the unloading area at the maximum angle. If no collision point 904 occurs during the process of lifting the cargo box to its maximum angle, directly calculate a non-collision virtual reference plane 906 that passes through the lowest point 905 of the cargo box and is parallel to the Y-axis of the three-dimensional terrain coordinate axis 907 of the unloading area at the maximum angle. The length and width of the non-collision virtual reference plane 906 are consistent with the envelope of the unloading point to be adjusted.

[0105] When the unloading auxiliary vehicle is repairing the retaining wall, the non-collision virtual reference plane within the envelope is extracted and sent to the unloading auxiliary vehicle via the machine group central map management unit, realizing two-way interaction between the map and the actual operation and enhancing the guidance for the actual operation.

[0106] The unloading area map processing method in the above embodiments divides the update timing of multiple vehicles, including map collection vehicles, unmanned mining trucks, and unloading auxiliary vehicles, to reduce duplicate updates. The map collection vehicle only performs large-scale, long-term map data collection for the unloading area, each unmanned mining truck only completes the first map data update at the exit point, and the unloading auxiliary vehicle performs a short-term second map data update. Registered vehicles are removed to reduce the impact of moving vehicles on the map. The simulation data and real map data are linked to achieve a combination of virtual and real data and optimize the actual operation process.

[0107] The unloading area map processing method in the above embodiments can realize multi-vehicle map updates in the unloading area, remove registered vehicles, reduce the impact on map updates, and improve update efficiency; at the same time, it updates the changes of retaining walls near the actual unloading point to the simulation center, the simulation center performs unloading collision simulation, and feeds back the non-collision virtual reference plane to the unloading assistance vehicle, realizing two-way interaction between the map and actual operations, and further guiding the construction of retaining walls.

[0108] In one embodiment, such as Figure 10 As shown, this disclosure provides an unloading area map processing system, including a map acquisition unit 120 installed in a map acquisition vehicle, a map management unit 110 installed in a cluster center, a first map update unit 130 installed in a mineral transportation equipment, a second map update unit 140 installed in a mineral unloading auxiliary equipment, and an unloading collision simulation unit 150 installed in a simulation center.

[0109] Map acquisition unit 120 periodically acquires a first global map of the unloading area and sends it to map management unit. First map update unit 130 updates first local map data and sends it to map management unit. Second map update unit 140 updates second local map data and sends it to map management unit. Map management unit 1110 generates a second global map based on the first global map, first local map data, and second local map data, and sends it to unloading collision simulation unit. Unloading collision simulation unit 150 constructs a three-dimensional terrain of the unloading area based on the second global map data, performs unloading simulation on the three-dimensional terrain of the unloading area, generates a non-collision virtual reference plane, and sends it to second map update unit 140 through map management unit 110 so that second map update unit 140 can perform retaining wall correction processing.

[0110] In one embodiment, such as Figure 11 As shown, the first map update unit 130 includes a first map data transmission unit 131, a first map data acquisition unit 132, a first local map unit 133, a first map data verification unit 134, and a first registered vehicle removal unit 135. When the mineral transport equipment arrives at the entry point of the unloading area, the first map data transmission unit 131 receives the second global map data sent by the map management unit, forming the first local map data. During the operation of the mineral transport equipment, the first map data acquisition unit 132 receives the first map acquisition data collected by the first map acquisition device of the mineral transport equipment, and the first local map unit 133 updates the first local map data based on the first map acquisition data. When the mineral transport equipment leaves the unloading area, the first map data transmission unit 131 sends the first local map data to the map management unit.

[0111] The first map data verification unit 134 performs verification processing on the first map acquisition data. The verification processing includes at least one of the following: time synchronization of the first map acquisition data, removal of low-resolution data frames, removal of data frames with non-differential fixed solutions, interpolation between low-frequency data frames, and sparsity processing of high-frequency data frames. The first registered vehicle removal unit 135 removes map data corresponding to registered vehicles from the first map acquisition data.

[0112] In one embodiment, the first registered vehicle removal unit 135 receives a list of registered vehicle information sent by the map management unit. The information in the list includes the IDs, location information, and corresponding minimum envelope relationships of all vehicles located in the unloading area. The first registered vehicle removal unit 135 obtains the location information of its own mineral transport equipment and its relative location information with other detected vehicles to determine the location information of other vehicles. Based on the location information of other vehicles and the list of registered vehicle information, the first registered vehicle removal unit 135 obtains the IDs and minimum envelopes of the registered vehicles. Map data located within the minimum envelope of the registered vehicles is removed from the first map acquisition data.

[0113] In one embodiment, such as Figure 12 As shown, the second map update unit 140 includes a second map data transmission unit 141, a second map data acquisition unit 142, a local retaining wall update unit 143, a second local map unit 144, a second map data verification unit 145, and a second registered vehicle removal unit 146. The second map data transmission unit 141 periodically receives second global map data sent by the map management unit to form second local map data. The second map data acquisition unit 142 receives second map acquisition data collected by the second map acquisition device of the mineral unloading auxiliary equipment.

[0114] The local retaining wall update unit 143 updates the map data within the envelope of the unloading points to be repaired in the second local map data. The second local map unit 144 updates the second local map data based on the map data within the envelope of the unloading points to be repaired and the second map acquisition data. The second map data transmission unit 141 periodically sends the updated second local map data to the map management unit.

[0115] The second map data verification unit 145 verifies the second map data. The verification process includes at least one of the following: time synchronization of the second map data, removal of low-resolution data frames, removal of data frames with non-differential fixed solutions, interpolation between low-frequency data frames, and sparsity processing of high-frequency data frames. The second registered vehicle removal unit 146 removes map data corresponding to registered vehicles from the second map data.

[0116] In one embodiment, the second registered vehicle removal unit 146 receives a list of registered vehicle information sent by the map management unit. The information in the list includes the IDs, location information, and corresponding minimum envelope relationships of all vehicles located within the unloading area. The second registered vehicle removal unit 146 obtains the location information of its own mineral unloading auxiliary equipment and its relative location information with other detected vehicles to determine the location information of other vehicles. Based on the location information of other vehicles and the list of registered vehicle information, the second registered vehicle removal unit 146 obtains the IDs and minimum envelopes of the registered vehicles. The second registered vehicle removal unit 146 removes map data located within the minimum envelope of the registered vehicles from the second map acquisition data.

[0117] The map management unit 110 registers and numbers all vehicles located in the unloading area, and generates the corresponding minimum envelope based on the size information of each vehicle. The map management unit 110 generates a list of registered vehicle information based on the ID, location information and corresponding minimum envelope of all vehicles.

[0118] In one embodiment, the local retaining wall update unit 143 uses the unloading point to be repaired as the origin, delineates the envelope of the unloading point to be repaired, and extracts the local map data within the envelope of the unloading point to be repaired from the second local map data as the original map data of the local retaining wall; the local retaining wall update unit 143 uploads the envelope data of the unloading point to be repaired to the unloading collision simulation unit through the map management unit, and receives the non-collision virtual reference plane sent by the unloading collision simulation unit through the map management unit.

[0119] The local retaining wall update unit 143 filters the map data outside the envelope of the unloading point to be repaired in the second local map data, and retains the map data within the envelope of the unloading point to be repaired; the local retaining wall update unit 143 uses the non-collision virtual reference plane as the dividing surface to divide the map data within the envelope of the unloading point to be repaired, and performs color marking on the map data above the dividing surface; the local retaining wall update unit 143 updates the original map data of the local retaining wall in real time until there are no color-marked parts in the second local map data.

[0120] In one embodiment, the unloading collision simulation unit 150 constructs and updates the three-dimensional terrain of the unloading area containing all retaining walls based on the second global map to form a new unloading surface; after forming the new unloading surface, the unloading collision simulation unit 150 delineates the retaining walls according to the envelope data of the unloading points to be modified; the unloading collision simulation unit 150 performs unloading operation simulation processing in the three-dimensional terrain of the unloading area, determines whether there is a collision point between the cargo box and the retaining wall during the unloading operation of the mineral transport equipment, and generates a non-collision virtual reference plane based on the judgment result.

[0121] The unloading collision simulation unit 150 uses the global map data of the unloading area to reconstruct the overall three-dimensional model of the unloading area. Based on the envelope of the unloading point to be repaired, the unloading collision simulation unit 150 extracts the retaining wall corresponding to the length and width of the envelope at the unloading point corresponding to the real scene in the reconstructed three-dimensional model. It simulates whether there is a collision between the cargo box and the retaining wall when the unmanned mining truck is unloading, and calculates the non-collision virtual reference plane. The non-collision virtual reference plane includes at least the retaining wall corresponding to the length and width of the envelope of the unloading point to be repaired, which is extracted by the unloading collision simulation unit based on the envelope of the unloading point to be repaired, and the lowest plane corresponding to the length and width of the envelope of the unloading point to be repaired, which is calculated so that the cargo box and the retaining wall do not collide during the unloading operation.

[0122] In one embodiment, this disclosure provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the method as described in any of the above embodiments.

[0123] The unloading area map processing method, system, and storage medium in the above embodiments can update the unloading area map using map data collected from multiple vehicles, avoiding blind spots and providing good real-time performance; they can achieve multi-vehicle map updates in the unloading area, improving map update efficiency and adapting to the actual operation process of the unloading area; by generating a non-collision virtual reference plane through unloading collision simulation, they can achieve two-way interaction between the map and actual operations, guiding the construction of retaining walls and avoiding collisions between cargo boxes and retaining walls; and they can achieve linkage between simulation data and real map data, optimizing the actual operation process, improving the safety of unloading area operations, and increasing the efficiency of automated operations.

[0124] The methods and systems of this disclosure may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of this disclosure are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, this disclosure may also be implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the methods according to this disclosure. Thus, this disclosure also covers recording media storing programs for performing the methods according to this disclosure.

[0125] The description in this disclosure is provided for illustrative and descriptive purposes only and is not intended to be exhaustive or to limit the disclosure to its forms. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of this disclosure and to enable those skilled in the art to understand this disclosure and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A method for processing an unloading area map, comprising: The map acquisition unit periodically acquires the first global map of the unloading area and sends the first global map to the map management unit; wherein, the map acquisition unit is located in the map acquisition vehicle, and the map management unit is located in the cluster center; The first map update unit updates the first local map data and sends the first local map data to the map management unit; The first map update unit is installed in the mineral transport equipment, and the first map acquisition device is one or more lidar sensors installed on the mineral transport equipment. When the mineral transport equipment arrives at the entry point of the unloading area, the first map update unit receives the latest version of the second global map data of the unloading area sent by the map management unit to form the first local map data. During the operation of the mineral transport equipment, the first map update unit receives the first map acquisition data collected by the first map acquisition device and updates the first local map data based on the first map acquisition data. The second map update unit updates the second local map data and sends the second local map data to the map management unit; The second map update unit is located in the mineral unloading auxiliary equipment, and the second map acquisition device is one or more lidar sensors installed on the mineral unloading auxiliary equipment. The second map update unit periodically receives the latest version of the second global map data of the unloading area sent by the map management unit to form second local map data. The second map update unit receives the second map acquisition data collected by the second map acquisition device, updates the map data within the envelope of the unloading points to be repaired in the second local map data, and updates the second local map data based on the map data within the envelope of the unloading points to be repaired and the second map acquisition data. The map management unit updates the second global map of the unloading area based on the first global map, the first local map data, and the second local map data, and sends the second global map to the unloading collision simulation unit after the update; wherein, the unloading collision simulation unit is located in the simulation center; The unloading collision simulation unit constructs a three-dimensional terrain of the unloading area based on the second global map data, performs unloading simulation on the three-dimensional terrain of the unloading area, generates a non-collision virtual reference plane, and sends it to the second map update unit through the map management unit so that the second map update unit can perform retaining wall correction processing. The non-collision virtual reference plane includes: a retaining wall with corresponding length and width intercepted by the unloading collision simulation unit according to the envelope of the unloading point to be corrected, and calculates the lowest plane with corresponding length and width to the envelope of the unloading point to be corrected, where the cargo box and the retaining wall do not collide during unloading operations.

2. The method of claim 1, wherein, The first map update unit sends the first local map data to the map management unit, including: When the mineral transport equipment leaves the unloading area, the first map update unit sends the first local map data to the map management unit.

3. The method of claim 2, further comprising: The first map update unit performs verification processing on the first map acquisition data; wherein, the verification processing includes at least one of the following: time synchronization of the first map acquisition data, removal of low-resolution data frames, removal of data frames under non-differential fixed solutions, interpolation between low-frequency data frames, and sparsity processing of high-frequency data frames. The first map update unit removes map data corresponding to registered vehicles from the first map collection data.

4. The method as described in claim 3, wherein the first map updating unit performs a removal process on the map data corresponding to registered vehicles in the first map acquisition data, comprising: The first map update unit receives a list of registered vehicle information sent by the map management unit. The information in the list of registered vehicle information includes: the IDs, location information, and corresponding minimum envelope relationships of all vehicles located in the unloading area. The first map update unit obtains the location information of the mineral transport equipment it is located in and the relative location information of other detected vehicles, and determines the location information of other vehicles; The first map update unit obtains the IDs and minimum envelopes of the registered vehicles based on the location information of other vehicles and the list of registered vehicle information; The first map update unit removes map data located within the minimum envelope of the registered vehicles from the first map acquisition data.

5. The method of claim 1, wherein the second map update unit sends the second local map data to the map management unit, comprising: The second map update unit periodically sends the updated second local map data to the map management unit.

6. The method of claim 5, further comprising: The second map update unit performs verification processing on the second map acquisition data; wherein, the verification processing includes at least one of the following: time synchronization of the second map acquisition data, removal of low-resolution data frames, removal of data frames under non-differential fixed solutions, interpolation between low-frequency data frames, and sparsity processing of high-frequency data frames. The second map update unit removes map data corresponding to registered vehicles from the second map collection data.

7. The method as described in claim 6, wherein the second map updating unit performs a removal process on the map data corresponding to registered vehicles in the second map acquisition data, comprising: The second map update unit receives a list of registered vehicle information sent by the map management unit. The information in the list of registered vehicle information includes: the IDs, location information, and corresponding minimum envelope relationships of all vehicles located in the unloading area. The second map update unit obtains the location information of the mineral unloading auxiliary equipment where it is located and the relative location information of other detected vehicles, and determines the location information of other vehicles; The second map update unit obtains the IDs and minimum envelopes of the registered vehicles based on the location information of other vehicles and the list of registered vehicle information; The second map update unit removes map data located within the minimum envelope of the registered vehicles from the second map acquisition data.

8. The method of claim 4 or 7, further comprising: The map management unit registers and numbers all vehicles located in the unloading area, and generates the corresponding minimum envelope based on the size information of each vehicle. The map management unit generates the list of registered vehicle information based on the IDs, location information, and corresponding minimum envelopes of all vehicles.

9. The method as described in claim 5, wherein the second map updating unit updates the map data within the envelope of the unloading point to be repaired in the second local map data, comprising: The second map update unit takes the unloading point to be repaired as the origin, delineates the envelope of the unloading point to be repaired, and extracts the local map data within the envelope of the unloading point to be repaired from the second local map data as the original map data of the local retaining wall. The second map update unit uploads the envelope data of the unloading point to be modified to the unloading collision simulation unit through the map management unit, and receives the non-collision virtual reference plane sent by the unloading collision simulation unit through the map management unit; The second map update unit filters the map data outside the envelope of the unloading point to be repaired in the second local map data, and retains the map data inside the envelope of the unloading point to be repaired. The second map update unit uses the non-collision virtual reference plane as the dividing plane to divide the map data within the envelope of the unloading point to be repaired, and performs color marking on the map data above the dividing plane. The second map update unit updates the original map data of the local retaining wall in real time until there are no color-marked parts in the second local map data.

10. The method of claim 9, wherein the unloading collision simulation unit constructs a three-dimensional terrain of the unloading zone based on the second global map data, performs unloading simulation on the three-dimensional terrain of the unloading zone, and generates a non-collision virtual reference plane, comprising: The unloading collision simulation unit constructs and updates the three-dimensional terrain of the unloading area containing all the retaining walls based on the second global map to form a new unloading surface; After forming a new unloading surface, the unloading collision simulation unit delineates the retaining wall based on the envelope data of the unloading point to be repaired. The unloading collision simulation unit performs unloading operation simulation processing in the three-dimensional terrain of the unloading area to determine whether there is a collision point between the cargo box and the retaining wall during the unloading operation of the mineral transport equipment. The unloading collision simulation unit generates the non-collision virtual reference plane based on the judgment result.

11. An unloading area map processing system, comprising: The map acquisition unit is located in the map acquisition vehicle, the map management unit is located in the cluster center, the first map update unit is located in the mineral transportation equipment, the second map update unit is located in the mineral unloading auxiliary equipment, and the unloading collision simulation unit is located in the simulation center. The map acquisition unit is used to periodically acquire the first global map of the unloading area and send the first global map to the map management unit. The first map update unit is used to update the first local map data and send the first local map data to the map management unit; The first map update unit is located in the mineral transport equipment, and the first map acquisition device is one or more lidars installed on the mineral transport equipment. The first map update unit includes: The first map data transmission unit is used to receive the latest version of the second global map data of the unloading area sent by the map management unit when the mineral transport equipment arrives at the entry point of the unloading area, and form the first local map data. The first map data acquisition unit is used to receive the first map acquisition data acquired by the first map acquisition device during the operation of the mineral transportation equipment. The first local map unit is used to update the first local map data based on the first map acquisition data; the second map update unit is used to update the second local map data and send the second local map data to the map management unit. The second map updating unit is located in the mineral unloading auxiliary equipment, and the second map acquisition device is one or more lidar sensors installed on the mineral unloading auxiliary equipment; the second map updating unit includes: The second map data transmission unit is used to periodically receive the latest version of the second global map data of the unloaded area sent by the map management unit, and form the second local map data of the vehicle. The second map data acquisition unit is used to receive the second map acquisition data acquired by the second map acquisition device. The local retaining wall update unit is used to update the map data within the envelope of the unloading point to be repaired in the second local map data; The second local map unit is used to update the second local map data based on the map data within the envelope of the unloading point to be repaired and the second map acquisition data; The map management unit is used to update the second global map of the unloading area based on the first global map, the first local map data and the second local map data, and send the second global map to the unloading collision simulation unit after the update; The unloading collision simulation unit is used to construct a three-dimensional terrain of the unloading area based on the second global map data, perform unloading simulation on the three-dimensional terrain of the unloading area, generate a non-collision virtual reference plane and send it to the second map update unit through the map management unit so that the second map update unit can perform retaining wall correction processing. The non-collision virtual reference plane includes: a retaining wall with corresponding length and width intercepted by the unloading collision simulation unit according to the envelope of the unloading point to be corrected, and the lowest plane with corresponding length and width to the envelope of the unloading point to be corrected, which does not cause unloading collision between the cargo box and the retaining wall during unloading operations.

12. The system of claim 11, wherein, The first map update unit includes: The first map data transmission unit is used to send the first local map data to the map management unit when the mineral transport equipment leaves the unloading area.

13. The system of claim 12, wherein, The first map update unit includes: The first map data verification unit is used to verify the first map data; wherein the verification process includes at least one of the following: time synchronization of the first map data, removal of low-resolution data frames, removal of data frames under non-differential fixed solutions, interpolation between low-frequency data frames, and sparsity processing of high-frequency data frames. The first registered vehicle removal unit is used by the first map update unit to remove map data corresponding to registered vehicles from the first map collection data.

14. The system of claim 13, wherein, The first registered vehicle removal unit is configured to receive a list of registered vehicle information sent by the map management unit. The information in the list of registered vehicle information includes: the IDs, location information, and corresponding minimum envelopes of all vehicles located in the unloading area; obtain the location information of the mineral transport equipment it is located in and its relative location information with other detected vehicles, and determine the location information of other vehicles; based on the location information of other vehicles and the list of registered vehicle information, obtain the IDs and minimum envelopes of the registered vehicles; and remove map data located within the minimum envelopes of the registered vehicles from the first map acquisition data.

15. The system of claim 11, wherein, The second map update unit includes: The second map data transmission unit is used to periodically send the updated second local map data to the map management unit.

16. The system of claim 15, wherein, The second map update unit includes: The second map data verification unit is used to verify the second map data; wherein the verification process includes at least one of the following: time synchronization of the second map data, removal of low-resolution data frames, removal of data frames under non-differential fixed solution, interpolation between low-frequency data frames, and sparsity processing of high-frequency data frames. The second registered vehicle removal unit is used to remove map data corresponding to registered vehicles from the second map acquisition data.

17. The system of claim 16, wherein, The second registered vehicle removal unit is used to receive a list of registered vehicle information sent by the map management unit. The information in the list of registered vehicle information includes: the IDs, location information, and corresponding minimum envelope relationships of all vehicles located in the unloading area; obtain the location information of the mineral unloading auxiliary equipment it is located in and its relative location information with other detected vehicles, and determine the location information of other vehicles; based on the location information of other vehicles and the list of registered vehicle information, obtain the IDs and minimum envelopes of the registered vehicles; and remove map data located within the minimum envelope of the registered vehicles from the second map acquisition data.

18. The system as claimed in claim 14 or 17, wherein, The map management unit is used to register and number all vehicles located in the unloading area, and generate the corresponding minimum envelope based on the size information of each vehicle. The registered vehicle information list is generated based on the IDs, location information, and corresponding minimum envelopes of all vehicles.

19. The system of claim 15, wherein, The local retaining wall update unit is used to define the envelope of the unloading point to be repaired and unloaded, with the unloading point to be repaired and unloaded as the origin, and to extract the local map data within the envelope of the unloading point to be repaired and unloaded in the second local map data as the original map data of the local retaining wall. The map management unit uploads the envelope data of the unloading point to be repaired to the unloading collision simulation unit, and receives the non-collision virtual reference plane sent by the unloading collision simulation unit through the map management unit; in the second local map data, the map data outside the envelope of the unloading point to be repaired is filtered, and the map data inside the envelope of the unloading point to be repaired is retained; the non-collision virtual reference plane is used as the dividing plane to divide the map data inside the envelope of the unloading point to be repaired, and the map data above the dividing plane is color-marked; the original map data of the local retaining wall is updated in real time until there are no color-marked parts in the second local map data.

20. The system of claim 19, wherein, The unloading collision simulation unit is used to construct and update the three-dimensional terrain of the unloading area containing all the retaining walls based on the second global map to form a new unloading surface; after forming the new unloading surface, the retaining walls are delineated according to the envelope data of the unloading points to be repaired; unloading operation simulation processing is performed in the three-dimensional terrain of the unloading area to determine whether there is a collision point between the cargo box and the retaining wall during the unloading operation of the mineral transport equipment; and the non-collision virtual reference plane is generated according to the judgment result.

21. A computer-readable storage medium that non-transitoryly stores computer instructions, which are executed by a processor according to any one of claims 1 to 10.

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