Movable terrain acquisition equipment, terrain data acquisition system and processing system
By designing movable terrain acquisition equipment in mining operation scenarios, using terrain change identification module and control module to update terrain data in real time, the problem of low map update efficiency is solved, and effective response to high-frequency terrain changes and efficient map update is achieved. .
Patent Information
- Application Number
- CN202411418519.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-11
- Publication Date
- 2025-01-10
AI Technical Summary
The terrain changes frequently in mining operation scenarios, and the map update efficiency in the existing technology is low, so it is impossible to effectively deal with high-frequency terrain changes, which affects the execution of autonomous driving tasks.
A movable terrain acquisition device is designed, including a terrain acquisition module, a terrain change identification module and a control module. By identifying the movement of the terrain change, the updated terrain data is collected in real time to ensure efficient update of the map.
Real-time and convenience of terrain data collection, improve the efficiency of map updates, and is suitable for high dynamic changes in mining areas.
Smart Images
Figure CN119289950A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the fields of map technology and unmanned driving technology, and more specifically, to a mobile terrain acquisition device, a terrain data acquisition system and a processing system. Background Art
[0002] In mining operations, the excavation of excavators and the stacking of soil in the dumping area by transport vehicles cause the topography of the dumping area and loading area to change frequently. In the mine autonomous driving operation environment, map updates ensure the correct execution of autonomous driving tasks. Therefore, for such high-frequency change scenarios, ensuring the "high freshness" (higher update frequency in the map) of the mine map terrain is a crucial technology in mine automation technology.
[0003] The mining mapping equipment and solutions in the related technology often use drones to collect the whole mine map by flight, which has a slow update frequency and low mapping efficiency. Alternatively, a map collection vehicle is used to collect point cloud maps of a specified area. This method requires the collection vehicle to drive at a specified location for collection, and the collection process is long and requires a certain amount of collection time.
[0004] Therefore, it is urgent to propose a map updating solution suitable for highly dynamic scenes in mining areas (loading areas, spoil dumps, etc.) to improve operational efficiency. Summary of the invention
[0005] The embodiments of the present application provide a mobile terrain acquisition device, a terrain data acquisition system and a processing system to solve the technical problem of low map update efficiency in related technologies.
[0006] According to one aspect of the present application, a movable terrain acquisition device is provided, and the movable terrain acquisition device includes: a device body, which is provided with a movable component, and the movable component can drive the device body to move; a terrain acquisition module, which is arranged on the device body and is used to collect terrain data of a specified area; a terrain change recognition module, which is used to identify whether the terrain corresponding to the specified area has changed according to the terrain data of the specified area and / or the status data of the target device; and a control module, which is used to control the movable component to move according to a specified rule and re-collect the terrain data after the movement when the terrain change recognition module identifies that the terrain corresponding to the specified area has changed.
[0007] Optionally, the designated rule includes moving along a designated path trajectory, and the designated path trajectory is obtained based on at least terrain data collected by the terrain collection module in a first state and terrain data collected in a second state, and the first state and the second state are two different states.
[0008] Optionally, the movable terrain acquisition device further includes: a moving mechanism, used to drive the terrain acquisition module to move so as to change the area range collected by the terrain acquisition module; wherein the area ranges collected by the terrain acquisition module corresponding to the first state and the second state are different.
[0009] Optionally, the terrain change identification module includes: a laser radar; the mobile mechanism includes: a rotating mechanism, on which the terrain change identification module is arranged, and the rotating mechanism can rotate 360° around the bracket on the device body; wherein the origin center of the laser radar coincides or nearly coincides with the rotation center of the rotating mechanism.
[0010] Optionally, the movable terrain acquisition device also includes a positioning module, which is used to obtain the position of the movable terrain acquisition device; the control module is also used to take the origin of the first frame of lidar data as the origin of the local map, record the rotation angle corresponding to the rotation mechanism, and for subsequent lidar data frames, perform posture transformation based on the rotation angle of the rotation mechanism, accumulate the lidar data frames after posture transformation, and obtain a target local map; and, according to the rotation angle corresponding to the first frame of lidar data, the external parameters from the lidar to the positioning module, the external parameters from the lidar to the rotation center of the rotation mechanism, and the target local map, obtain a global map in the global projection coordinate system.
[0011] Optionally, the moving mechanism is used to move when it is determined that the terrain corresponding to the designated area has changed based on multiple frames of terrain data collected by the terrain change recognition module in the first state, so as to switch the terrain change recognition module to the second state.
[0012] Optionally, the acquisition field of view of the second state is larger than the acquisition field of view of the first state; and / or, the acquisition field of view of the second state is different from the acquisition field of view of the first state; and / or, at least part of the acquisition field of view of the second state overlaps with at least part of the acquisition field of view of the first state.
[0013] Optionally, the designated area includes a first central area perpendicular to the dumping line in the unloading area or an area close to the first central area, or a second central area perpendicular to the excavation advancement direction in the loading area or an area close to the second central area; and / or, the target equipment includes: an excavator, or a vehicle used for unloading operations, or a vehicle used for loading operations.
[0014] Optionally, the mobile terrain acquisition equipment also includes: a communication module for communicating with an excavator or a vehicle to trigger a terrain change identification module to enter a target working state according to the working condition of the excavator or the vehicle, wherein the terrain change identification module starts to identify whether the terrain corresponding to the designated area has changed in the target working state.
[0015] According to another aspect of the present application, there is also provided a terrain data acquisition system, comprising: a target device, and any one of the above-mentioned movable terrain acquisition devices, wherein the target device is used to generate terrain changes.
[0016] According to another aspect of the present application, there is also provided a terrain data processing system, comprising: a cloud platform, and any one of the above-mentioned movable terrain acquisition devices, wherein the cloud platform is used to receive terrain data collected by the movable terrain acquisition device.
[0017] The present application provides a movable terrain acquisition device, a terrain data acquisition system and a processing system. The movable terrain acquisition device includes: a device body, which is provided with a movable component, and the movable component can drive the device body to move; a terrain acquisition module, which is provided on the device body and is used to collect terrain data of a specified area; a terrain change identification module, which is used to identify whether the terrain corresponding to the specified area has changed according to the terrain data of the specified area and / or the status data of the target device; and a control module, which is used to control the movable component to move according to a specified rule and re-collect terrain data after the movement when the terrain change identification module identifies that the terrain corresponding to the specified area has changed. Through the movable terrain acquisition device, when it is detected that the terrain of the specified area has changed, the movable component is controlled to move, so that the terrain acquisition device can collect the corresponding updated terrain, thereby ensuring the real-time nature of terrain data collection, and having good convenience and reliability of collected data, and effectively solving the technical problem of low map update efficiency in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:
[0019] Figure 1 is a structural schematic diagram of a movable terrain acquisition device according to an embodiment of the present application;
[0020] Figure 2 is a structural schematic diagram of a movable terrain acquisition device according to an embodiment of the present application;
[0021] Figure 3 is a schematic diagram of a terrain data acquisition system according to an embodiment of the present application;
[0022] Figure 4 is a schematic diagram of a terrain data processing system according to an embodiment of the present application. DETAILED DESCRIPTION
[0023] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.
[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
[0025] The mining mapping equipment and solutions in the related technology often use drones to collect the whole mine map by flight, which has a slow update frequency and low mapping efficiency. Alternatively, a map collection vehicle is used to collect point cloud maps of a specified area. This method requires the collection vehicle to drive at a specified location for collection, and the collection process is long and requires a certain amount of collection time.
[0026] The terrain acquisition efficiency of the above method is low, which affects the working efficiency. In order to effectively solve the above technical problems, the present application provides a movable terrain acquisition device, a terrain data acquisition system and a processing system, which are specifically described through the following optional embodiments.
[0027] like Figure 1 As shown, an embodiment of the present application provides a movable terrain acquisition device, which may include:
[0028] The device body 10 is provided with a movable component, and the movable component can drive the device body to move;
[0029] A terrain acquisition module 20, provided on the device body, for acquiring terrain data of a specified area;
[0030] A terrain change identification module 30, used to identify whether the terrain corresponding to the designated area has changed according to the terrain data of the designated area and / or the status data of the target device;
[0031] The control module 40 is used to control the movable component to move according to a specified rule and re-collect terrain data after the movement when the terrain change recognition module recognizes that the terrain corresponding to the designated area has changed.
[0032] In the above embodiments, the device body can be set in any form, and this application does not impose specific restrictions on this. Preferably, the device body can be composed of a base and a bracket, and a movable component is set below the base to drive the movement of the base and the upper part of the base, and a bracket, a cover, a protective shell and other mechanisms can be set above the base. For example, a bracket can be set above the base, and a terrain acquisition module, a terrain change recognition module, a control module, etc. are set on the bracket. Optionally, the movable component can be a wheel, or it can also be a track, etc.
[0033] In the above embodiment, the terrain acquisition module may be any one or more sensing devices that can collect terrain data, for example, a laser radar, a camera, a millimeter wave radar, an infrared sensing device, etc. Preferably, in order to further improve the accuracy of terrain acquisition, the terrain acquisition module may include a laser radar.
[0034] In the above embodiment, the terrain change recognition module can determine whether the terrain has changed by periodically collecting terrain data of the specified area; or, the terrain change recognition module can also be linked with other devices, for example, linked with the target device, to determine whether the terrain of the specified area has changed. The target device can be any device that can cause the terrain of the specified area to change. The target device can include: an excavator, or a vehicle for unloading operations, or a vehicle for loading operations. These devices can cause the terrain to extend or retract during operation.
[0035] In the above embodiment, when the control module determines that the terrain corresponding to the designated area has changed, the control module can control the movable component to move according to the designated rules, thereby driving the terrain acquisition module on the movable terrain acquisition device to move to a suitable position, and then collect the latest terrain data to update the map. Optionally, the designated rules can be determined based on the specific change characteristics of the terrain. Optionally, based on the terrain change characteristics, the planned path of the movable terrain acquisition device is determined, and the movable terrain acquisition device is controlled to move to the target position according to the planned path.
[0036] The movable terrain acquisition device provided in the above embodiment is provided with a device body, on which a movable component is provided, and the movable component can drive the device body to move; a terrain acquisition module is provided on the device body, and is used to collect terrain data of a specified area; a terrain change identification module is used to identify whether the terrain corresponding to the specified area has changed according to the terrain data of the specified area and / or the status data of the target device; and a control module is used to control the movable component to move according to a specified rule and re-collect terrain data after the movement when the terrain change identification module identifies that the terrain corresponding to the specified area has changed. Through the movable terrain acquisition device, when it is detected that the terrain of the specified area has changed, the movable component is controlled to move, so that the terrain acquisition device can collect the corresponding updated terrain, thereby ensuring the real-time nature of terrain data collection, and having good convenience and reliability of collected data, and effectively solving the technical problem of low map update efficiency in related technologies.
[0037] In an optional embodiment, the specified rule includes moving along a specified path trajectory, and the specified path trajectory is obtained based on at least terrain data collected by the terrain acquisition module in a first state and terrain data collected in a second state, and the first state and the second state are two different states.
[0038] In this embodiment, the terrain acquisition module is in a first state at a first moment and in a second state at a second moment. Optionally, the orientation of the perception surface of the terrain acquisition module at the first moment and the second moment is different. For example, when it is determined that the terrain data needs to be updated, the terrain acquisition module is first controlled to be in the direction of the initial position (i.e., the first state) and spatial data is collected, and then the perception surface of the terrain acquisition module is controlled to move toward the first position (i.e., the second state) and spatial data is collected. Among them, the spatial data includes terrain (not only the designated area, but also the terrain data within the entire perception range), obstacle data (cars, pedestrians, stones, etc.) between the current position and the designated area position, etc. This embodiment can ensure that the generated designated path trajectory is safe and controllable.
[0039] In an optional embodiment, the movable terrain acquisition device further includes: a moving mechanism, used to drive the terrain acquisition module to move so as to change the area range collected by the terrain acquisition module; wherein the area ranges collected by the terrain acquisition module corresponding to the first state and the second state are different.
[0040] In this embodiment, the moving mechanism can be any mechanical or electromechanical structure that can drive the terrain acquisition module to sense the surface changes. For example, the moving mechanism can be a rotating motor structure or a mechanism including a rotating motor. This embodiment can effectively ensure that the terrain acquisition module collects rich data.
[0041] In an optional embodiment, the terrain change recognition module includes: a laser radar; the mobile mechanism includes: a rotating mechanism, on which the terrain change recognition module is arranged, and the rotating mechanism can rotate 360° around the bracket on the device body; wherein the origin center of the laser radar and the rotation center of the rotating mechanism coincide or nearly coincide. In this embodiment, by driving the laser radar to rotate through the rotating mechanism, rich, accurate, and highly usable perception data can be collected.
[0042] In an optional embodiment, the movable terrain acquisition device also includes a positioning module, which is used to obtain the position of the movable terrain acquisition device; the control module is also used to take the origin of the first frame of lidar data as the origin of the local map, record the rotation angle corresponding to the rotation mechanism, and for subsequent lidar data frames, perform posture transformation based on the rotation angle of the rotation mechanism, accumulate the lidar data frames after posture transformation, and obtain a target local map; and, according to the rotation angle corresponding to the first frame of lidar data, the external parameters from the lidar to the positioning module, the external parameters from the lidar to the rotation center of the rotation mechanism, and the target local map, obtain a global map in the global projection coordinate system.
[0043] In this embodiment, the processing flow can be controlled by the following steps: Step 1: Start the acquisition task, collect radar data, positioning data, and the rotation angle of the rotating mechanism in real time. Step 2: Synchronize the time of the radar data and the rotation data of the rotating mechanism. The rotation angle of the corresponding moment is found for each frame of radar data. Step 3: Take the origin of the first frame of radar data as the origin of the local map and record the rotation angle of the rotating mechanism at this time. For the radar data frames of the subsequent period of time, perform posture transformation according to the rotation angle, and accumulate the radar data frames after posture transformation. Obtain a local map of this acquisition task. Step 4: According to the rotation angle corresponding to the first frame of radar, the external parameters of the radar to the positioning module, and the external parameters of the radar to the rotation center, calculate the point cloud map in the global projection coordinate system. Step 5: Complete map acquisition and send the data to the cloud for map update. Through the above process, high-precision map data acquisition can be effectively completed.
[0044] In an optional embodiment, the moving mechanism is used to move when it is determined that the terrain corresponding to the designated area has changed based on multiple frames of terrain data collected by the terrain change recognition module in the first state, so as to switch the terrain change recognition module to the second state.
[0045] In this embodiment, the terrain change recognition module collects multiple frames of continuous terrain data when it is in the first state to determine whether the terrain has changed. It should be noted that the multi-frame terrain data here refers to the purpose of determining terrain changes. The content of the specific terrain data can be direct sensing of the terrain, or sensing of spatial data of the target area, and then determine whether the terrain has changed based on the spatial data. The spatial data here may include equipment data, ground data, etc. in the target space, wherein the equipment data may include the movement of the target equipment. The target equipment here refers to the equipment that causes the terrain to change, for example, it may be an excavator, etc. In this embodiment, after the terrain change recognition module recognizes that the terrain has changed, the mode of the terrain change recognition module is switched to the second state, and the second state is a state different from the first state. The difference in state may be a difference in perception field of view, a difference in detection frequency, etc.
[0046] In an optional embodiment, the acquisition field of view of the second state is larger than the acquisition field of view of the first state; and / or, the acquisition field of view of the second state is different from the acquisition field of view of the first state; and / or, at least part of the acquisition field of view of the second state overlaps with at least part of the acquisition field of view of the first state.
[0047] In the above embodiment, optionally, the acquisition field of view in the second state is larger than the acquisition field of view in the first state. This method can ensure that the terrain acquisition device obtains information about a larger spatial area before moving, so as to ensure the safety of the terrain acquisition device during path planning. For example, in the first state, the perception perspective of the terrain acquisition device is more focused to obtain a more reasonable amount of data to improve data processing efficiency; in the second state, the perception perspective of the terrain acquisition device is enlarged, and the information of dynamic obstacles and static obstacles in a larger space can be perceived, thereby assisting in path planning and making the path planning result safer. Optionally, after the terrain acquisition device is in the second state, at a specified time or after the specified purpose is achieved, the perception field of view can be reduced, that is, adjusted to the third state, and further returned to the focused state; the specific perception field size of the third state can be determined based on the latest needs.
[0048] Optionally, when the terrain acquisition device is in the second state, if a dynamic obstacle is detected, a reminder message can be sent to the dynamic obstacle through the communication module to guide the dynamic obstacle to drive away or leave as soon as possible. If a static obstacle is detected, the static obstacle will be avoided in subsequent path planning.
[0049] In an optional embodiment, the designated area includes a first central area in the unloading area that is perpendicular to the dumping line or an area close to the first central area, or a second central area in the loading area that is perpendicular to the excavation advancement direction or an area close to the second central area; and / or, the target equipment includes: an excavator, or a vehicle used for unloading operations, or a vehicle used for loading operations.
[0050] In this embodiment, the movable terrain acquisition device is preferably arranged on the discharge surface of the unloading area or the central area of the loading area. This approach can help the movable terrain acquisition device to collect more accurate terrain change data.
[0051] In an optional embodiment, the mobile terrain acquisition equipment also includes: a communication module for communicating with an excavator or a vehicle to trigger a terrain change identification module to enter a target working state according to the working condition of the excavator or the vehicle, wherein the terrain change identification module starts to identify whether the terrain corresponding to the designated area has changed in the target working state.
[0052] In this embodiment, the mobile terrain acquisition device may also include a communication module, which may support long-distance communication or short-distance communication, and this application does not make specific limitations on this. The communication module may communicate with an excavator or a transport vehicle, and the excavator or the transport vehicle sends its own working status information to the terrain acquisition device through the communication module, and the terrain acquisition device then determines whether the terrain has changed based on the working status information. Among them, the above-mentioned working status may include: the excavation status of the excavator, for example, whether the excavator is reversing to further expand the excavation surface, the swinging status of the excavator arm, etc.; the transportation status of the transport vehicle, for example, whether the transport vehicle has completed loading and is leaving, etc. This embodiment can effectively improve the detection efficiency of whether the terrain has changed, and can obtain sufficiently accurate information.
[0053] In an optional embodiment, it is possible to identify whether the terrain corresponding to the designated area has changed based on the terrain data of the designated area and the status data of the target device at the same time. This method can further improve the detection accuracy of whether the terrain has changed.
[0054] like Figure 2As shown, a movable terrain acquisition device (collection cart for short) is also provided, which is used for point cloud map acquisition of mining scene. Among them, a base and a rod are provided on the collection cart, and a computing device, a power supply, a communication module and a positioning module are installed inside it. In addition, electrical connections are made through wires and a rotating mechanism and a non-repetitive scanning radar. The non-repetitive scanning radar sensor is installed on a rotating mechanism, which can rotate 360 degrees freely, driving the radar to rotate, and the rotation center of the rotating mechanism and the origin center of the radar coincide as much as possible. The external parameters of the radar to the positioning module and the external parameters of the radar to the rotation center can be obtained by calibration. Place the collection cart at a suitable position in the area to be collected, such as the middle of the spoil dump and the loading area. The collection steps and methods for updating the map are as follows:
[0055] Step 1: Start the collection task, collect radar data, positioning data, and the rotation angle of the rotating mechanism in real time;
[0056] Step 2: The radar data and the rotation data of the rotating mechanism are synchronized in time, and the rotation angle at the corresponding moment is found for each frame of radar data;
[0057] Step 3: Take the origin of the first frame of radar data as the origin of the local map and record the rotation angle of the rotating mechanism at this time. For the radar data frames in the subsequent period, perform posture transformation according to the rotation angle, accumulate the radar data frames after posture transformation, and obtain the local map of this acquisition task;
[0058] Step 4: According to the rotation angle corresponding to the first frame radar, the external parameters of the radar to the positioning module, and the external parameters of the radar to the rotation center, a point cloud map in the global projection coordinate system is calculated;
[0059] Step 5: Complete map collection and send data to the cloud for map updates.
[0060] The movable terrain acquisition device provided in the above embodiment controls the movement of the base (wheels) when detecting changes in the terrain of a specified area, so that the terrain acquisition device can collect the corresponding updated terrain, thereby ensuring the real-time acquisition of terrain data, and having good convenience and reliability of collected data, effectively solving the technical problem of low map update efficiency in related technologies.
[0061] The above embodiment can support the rapid completion of the collection of point cloud maps in mining scenarios, and update and change the collection position according to the terrain of the dumping site and loading area. By driving the radar to change its position through a rotating mechanism, it can quickly scan a large range of scenes, complete the terrain update and data upload on the edge computing device, and effectively solve the problem of high-dynamic scene changes in mining scenarios.
[0062] According to another aspect of the present application, a terrain data acquisition system is also provided, such as Figure 3 As shown, the system may include:
[0063] The target device 100, and
[0064] Any of the above-mentioned movable terrain acquisition devices 110, wherein the target device is used to generate terrain changes.
[0065] In this embodiment, the target device may be any device used to generate terrain changes, such as an excavator, a transport vehicle, a bulldozer, or a road grader.
[0066] The terrain data acquisition system provided in the above embodiment includes a movable terrain acquisition device, which is provided with a device body on which a movable component is provided, and the movable component can drive the device body to move; a terrain acquisition module, which is provided on the device body and is used to collect terrain data of a specified area; a terrain change recognition module, which is used to identify whether the terrain corresponding to the specified area has changed according to the terrain data of the specified area and / or the status data of the target device; and a control module, which is used to control the movable component to move according to a specified rule and re-collect terrain data after the movement when the terrain change recognition module identifies that the terrain corresponding to the specified area has changed. Through the linkage between the movable terrain acquisition device and the target device, when it is detected that the terrain of the specified area has changed, the movable component is controlled to move, so that the terrain acquisition device can collect the corresponding updated terrain, thereby ensuring the real-time nature of terrain data acquisition, and having good convenience and reliability of collected data, and effectively solving the technical problem of low map update efficiency in related technologies.
[0067] According to another aspect of the present application, a terrain data processing system is also provided. Figure 4 As shown, the system includes:
[0068] cloud platform 200, and
[0069] Any of the above-mentioned mobile terrain acquisition devices 210, wherein the cloud platform is used to receive terrain data collected by the mobile terrain acquisition device.
[0070] In this embodiment, the cloud platform can communicate with the mobile terrain acquisition device, the mobile terrain acquisition device can upload the collected terrain data to the cloud platform, and the cloud platform can perform incremental updates of the map based on the terrain data collected by the mobile terrain acquisition device, thereby ensuring the accuracy and real-time nature of the map update.
[0071] The terrain data processing system provided in the above embodiment includes a movable terrain acquisition device, which is provided with a device body on which a movable component is provided, and the movable component can drive the device body to move; a terrain acquisition module, which is provided on the device body and is used to collect terrain data of a specified area; a terrain change identification module, which is used to identify whether the terrain corresponding to the specified area has changed according to the terrain data of the specified area and / or the status data of the target device; and a control module, which is used to control the movable component to move according to a specified rule and re-collect terrain data after the movement when the terrain change identification module identifies that the terrain corresponding to the specified area has changed. Through the linkage between the movable terrain acquisition device and the cloud platform, when it is detected that the terrain of the specified area has changed, the movable component is controlled to move, so that the terrain acquisition device can collect the corresponding updated terrain and upload it to the cloud platform for real-time update of the map, thereby ensuring the real-time nature of terrain data collection, and having good convenience and reliability of collected data, and effectively solving the technical problem of low map update efficiency in related technologies.
[0072] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.
[0073] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.
[0074] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.
[0075] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.
[0076] The above is only a preferred embodiment of the present application. It should be noted that ordinary technicians in this technical field can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be regarded as the protection scope of the present application.
Claims
1. A mobile terrain acquisition device, characterized in that: The movable terrain acquisition equipment comprises: The device body is provided with a movable component, and the movable component can drive the device body to move; A terrain acquisition module, arranged on the device body, for acquiring terrain data of a specified area; A terrain change identification module, used to identify whether the terrain corresponding to the designated area has changed according to the terrain data of the designated area and / or the status data of the target device; The control module is used to control the movable component to move according to a specified rule and re-collect terrain data after the movement when the terrain change recognition module recognizes that the terrain corresponding to the designated area has changed.
2. The mobile terrain acquisition device according to claim 1, characterized in that: The designated rule includes moving according to a designated path trajectory, and the designated path trajectory is obtained based on at least terrain data collected by a terrain collection module in a first state and terrain data collected in a second state, and the first state and the second state are two different states.
3. The mobile terrain acquisition device according to claim 2, characterized in that: The movable terrain acquisition equipment also includes: A moving mechanism, used for driving the terrain acquisition module to move, so as to change the area range collected by the terrain acquisition module; The terrain collection modules corresponding to the first state and the second state have different area ranges.
4. The mobile terrain acquisition device according to claim 1, characterized in that: The terrain change recognition module includes: a laser radar; The mobile mechanism comprises: a rotating mechanism, on which the terrain change recognition module is arranged, and the rotating mechanism can rotate 360° around the bracket on the device body; Among them, the origin center of the laser radar and the rotation center of the rotating mechanism coincide or nearly coincide.
5. The mobile terrain acquisition device according to claim 4, characterized in that: The mobile terrain acquisition device further includes a positioning module, and the positioning module is used to obtain the position of the mobile terrain acquisition device; The control module is also used to use the origin of the first frame of laser radar data as the origin of the local map, record the rotation angle corresponding to the rotating mechanism, and for subsequent laser radar data frames, perform posture transformation based on the rotation angle of the rotating mechanism, accumulate the laser radar data frames after posture transformation, and obtain the target local map; and obtain a global map in the global projection coordinate system according to the rotation angle corresponding to the first frame of laser radar data, the external parameters from the laser radar to the positioning module, the external parameters from the laser radar to the rotation center of the rotating mechanism, and the target local map.
6. The mobile terrain acquisition device according to claim 3, characterized in that: The moving mechanism is used to move when it is determined that the terrain corresponding to the designated area has changed according to the multiple frames of terrain data collected by the terrain change recognition module in the first state, so as to switch the terrain change recognition module to the second state.
7. The mobile terrain acquisition device according to any one of claims 1 to 3, characterized in that: The acquisition field of view of the second state is larger than the acquisition field of view of the first state; and / or, the acquisition field of view of the second state is different from the acquisition field of view of the first state; And / or, at least a portion of the acquisition field of view in the second state overlaps with at least a portion of the acquisition field of view in the first state.
8. The mobile terrain acquisition device according to claim 1, characterized in that: The designated area includes a first central area perpendicular to the dumping line in the unloading area or an area close to the first central area, or a second central area perpendicular to the excavation advancement direction in the loading area or an area close to the second central area; and / or, The target equipment includes: an excavator, or a vehicle used for unloading operations, or a vehicle used for loading operations.
9. The mobile terrain acquisition device according to claim 8, characterized in that: The movable terrain acquisition equipment also includes: The communication module is used to communicate with the excavator or the vehicle to trigger the terrain change recognition module to enter a target working state according to the working condition of the excavator or the vehicle, wherein the terrain change recognition module starts to identify whether the terrain corresponding to the designated area changes in the target working state.
10. A terrain data acquisition system, characterized in that: include: A target device, and the movable terrain acquisition device according to any one of claims 1 to 9, wherein the target device is used to generate terrain changes.
11. A terrain data processing system, characterized in that: include: A cloud platform, and the movable terrain acquisition device described in any one of claims 1 to 9, wherein the cloud platform is used to receive terrain data collected by the movable terrain acquisition device.