Three-dimensional map collecting and updating method and device and electronic equipment

Abstract

The invention discloses a three-dimensional map collecting and updating method and device and electronic equipment, and belongs to the field of map updating. Only the data collected by the unmanned aerial vehicle can update the base map of the current three-dimensional map, so that when the position of the to-be-collected area is not the existing position on the current three-dimensional map, at least the data collected by the unmanned aerial vehicle is needed, and when the position of the to-be-collected area is the existing position on the current three-dimensional map, the base map does not need to be updated. Therefore, the unmanned aerial vehicle and the collection vehicle can be used as execution equipment. According to the scheme, after the position of the to-be-collected area is obtained, the execution equipment is automatically determined according to the area data of the to-be-collected area, the collection task is generated, the three-dimensional map is automatically updated based on the collected data, manual participation is not needed, cost is low, efficiency is high, rapid changes of the terrain and texture of a working site can be reflected in time, and working efficiency is improved. Reasonable planning and accurate scheduling of operators are effectively supported.

Description

Technical Field

[0001] The present application relates to the field of unmanned driving technology, and in particular, to a three-dimensional map acquisition and updating method, device and electronic equipment. Background Art

[0002] Three-dimensional maps are the prerequisite for safe and efficient operation of vehicles in the field of unmanned driving. The three-dimensional map of open-pit mines is a tool that uses modern information technology and three-dimensional modeling technology to develop, plan and manage mine resources. It plays an increasingly important role in the production planning, dispatching and command, live broadcast monitoring and other operations of open-pit mines. With the gradual development and implementation of open-pit mine autonomous driving technology, the unmanned driving system relies on high-precision geographic information, real-time environmental data and intelligent dispatching systems to ensure its safe and efficient operation, which puts higher requirements on the three-dimensional terrain of open-pit mines.

[0003] At present, the three-dimensional maps of open-pit mines mainly rely on oblique photography modeling and manual surveying and mapping. The data production process is long and requires a lot of manual participation, resulting in high costs and low efficiency. Digital three-dimensional maps cannot reflect the rapid changes in terrain and texture at the work site in a timely manner, and it is difficult to effectively support operators in reasonable planning and precise scheduling. Summary of the invention

[0004] In order to overcome the shortcomings of related technologies, the present application provides a three-dimensional map collection and updating method, device and electronic equipment to solve the current update method of open-pit mine three-dimensional maps. The data production process is long and requires a lot of manual participation, resulting in high costs and low efficiency. The digital three-dimensional map cannot timely reflect the rapid changes in the terrain and texture of the work site, and it is difficult to effectively support the operator's reasonable planning and precise scheduling.

[0005] The technical solution adopted by this application to solve its technical problem is:

[0006] In a first aspect, a three-dimensional map acquisition and updating method is provided, comprising:

[0007] Get the location of the area to be collected and the current three-dimensional map;

[0008] Determine a region attribute of the area to be collected, where the region attribute is used to indicate whether the location of the area to be collected is an existing location on the current three-dimensional map;

[0009] Determine an execution device based on the regional attributes and generate a collection task, wherein the execution device includes a drone and a collection vehicle;

[0010] Acquire the data collected by the execution device, and update the current three-dimensional map based on the data, wherein the data collected by the drone is used to update the base map and three-dimensional terrain of the current three-dimensional map; the data collected by the collection vehicle is used to update the three-dimensional terrain of the current three-dimensional map.

[0011] Further, the determining of the execution device based on the area attribute includes:

[0012] In the case where the area attribute is a first area attribute, it is determined that the execution device is a drone, and the first area attribute is used to characterize that the position of the area to be collected is not an existing position on the current three-dimensional map.

[0013] Furthermore, when the area to be collected is an area in an open-pit mine, the determining of the execution device based on the area attribute includes:

[0014] In the case where the area attribute is a second area attribute, acquiring an area type of the area to be collected, wherein the second area attribute is used to characterize that the location of the area to be collected is an existing location on the current three-dimensional map;

[0015] Determining a terrain change speed of the area to be collected based on the area type, wherein the terrain change speed is determined based on the operating conditions of the open-pit mine;

[0016] An execution device is determined based on the terrain change speed.

[0017] Further, the determining of the execution device based on the terrain change speed includes:

[0018] When the terrain change speed is greater than a preset terrain change speed, determining that the execution device is a collection vehicle;

[0019] When the terrain change speed is less than or equal to a preset terrain change speed, it is determined that the execution device is a drone and / or a collection vehicle.

[0020] Furthermore, it also includes:

[0021] When it is determined that the execution device is a drone, the collection task is sent to the drone airport, where the collection task is used to instruct the drone airport to dispatch the drone to the area to be collected to collect data;

[0022] When the drone airport dispatches the drone to perform the collection task, the drone airport is further used to: obtain preset parameters and monitor whether a fault occurs according to the preset parameters; determine the fault type of the fault when a fault occurs, and process and report it according to the processing scheme corresponding to the fault type, wherein the preset parameters include drone status, communication and positioning data, and weather data, and the processing scheme includes any one of the following:

[0023] In the event of a failure to take off due to weather conditions, choose to postpone the mission;

[0024] Send notifications to relevant personnel in the event of communication and positioning failures, or in the event of drone or sensor failure.

[0025] Furthermore, it also includes:

[0026] When it is determined that the execution device is a collection vehicle, obtaining an operating vehicle in the area to be collected;

[0027] When the working vehicle has data collection capability, the collection task is assigned to the working vehicle.

[0028] Further, updating the current three-dimensional map based on the data includes:

[0029] Generate target data of the area to be collected based on the data, wherein the target data includes digital orthophotos and / or point cloud data;

[0030] The digital orthophoto is mosaicked on the base map of the current three-dimensional map, and the edge area is processed and then sliced ​​to obtain a tile base map in a preset format; and a digital elevation model is obtained according to the point cloud data, the digital elevation model is updated to the digital elevation model of the current three-dimensional map, and then sliced ​​to obtain a three-dimensional terrain in a preset format.

[0031] Furthermore, the generating of the acquisition task includes:

[0032] Obtaining modeling resolution requirements and sensor parameters of the UAV;

[0033] Determine the flight altitude, the lateral overlap rate of the route, and the longitudinal overlap rate of the route based on the modeling resolution requirement and the sensor parameters of the UAV, when the sensor parameters remain unchanged, the higher the modeling resolution requirement, the higher the lateral overlap rate of the route and the longitudinal overlap rate of the route;

[0034] A flight trajectory is generated based on the flight altitude, the lateral overlap rate of the routes, and the longitudinal overlap rate of the routes.

[0035] Furthermore, it also includes:

[0036] Obtaining the area type of the area to be collected;

[0037] If the area type belongs to a preset periodic area type, the collection task is saved, and the collection task is performed once according to a preset period; the periodic area type is used to indicate that the area needs to collect data periodically.

[0038] In a second aspect, a three-dimensional map acquisition and updating device is provided, comprising:

[0039] The area and map acquisition module is used to obtain the location of the area to be collected and the current three-dimensional map;

[0040] A region attribute determination module, used to determine the region attribute of the region to be collected, wherein the region attribute is used to indicate whether the location of the region to be collected is an existing location on the current three-dimensional map;

[0041] An execution device determination module, used to determine an execution device based on the regional attributes and generate a collection task, wherein the execution device includes a drone and a collection vehicle;

[0042] The three-dimensional map update module is used to obtain the data collected by the execution device and update the current three-dimensional map based on the data, wherein the data collected by the drone is used to update the base map and three-dimensional terrain of the current three-dimensional map; the data collected by the collection vehicle is used to update the three-dimensional terrain of the current three-dimensional map.

[0043] In a third aspect, a computer-readable storage medium is provided, on which a computer program or instruction is stored. When the computer program or instruction is executed by a processor, the steps of the three-dimensional map acquisition and update method provided by the technical solution of the first aspect are implemented.

[0044] In a fourth aspect, an electronic device is provided, including:

[0045] at least one processor and at least one memory;

[0046] The memory stores executable instructions of the processor;

[0047] The processor is configured to execute the three-dimensional map acquisition and update method provided by the technical solution of the first aspect.

[0048] Beneficial effects:

[0049] The technical solution of the present application provides a three-dimensional map collection and update method, device and electronic device. After obtaining the location of the area to be collected and the current three-dimensional map, the regional data of the area to be collected is determined, the execution device is determined based on the regional data and the collection task is generated, and finally the current three-dimensional map is updated according to the data collected by the execution device. Since only the data collected by the drone can update the base map of the current three-dimensional map, when the location of the area to be collected is not an existing location on the current three-dimensional map, at least the data collected by the drone is required, and when the location of the area to be collected is an existing location on the current three-dimensional map, there is no need to update the base map, so both the drone and the collection vehicle can be used as execution devices. After obtaining the location of the area to be collected, the solution of the present application automatically determines the execution device and generates the collection task according to the regional data of the area to be collected, and automatically updates the three-dimensional map based on the collected data, without the need for manual participation, with low cost but high efficiency, and can timely reflect the rapid changes in the terrain and texture of the work site, effectively supporting the reasonable planning and precise scheduling of operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 It is a schematic diagram of the structure of a three-dimensional map acquisition and updating system provided in an embodiment of the present application;

[0052] Figure 2 This is a method provided by the embodiment of the present application. Figure 1 Flowchart of the map collection and updating method of the system shown;

[0053] Figure 3 This is a flow chart of a three-dimensional map acquisition and updating method provided in an embodiment of the present application;

[0054] Figure 4 It is a structural schematic diagram of a three-dimensional map collection and updating device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme of the present application is described in detail below in conjunction with the accompanying drawings and embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other implementation methods obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0056] Unlike ordinary three-dimensional maps, the terrain in mines changes rapidly due to various operations (such as excavation and unloading). With the gradual application of unmanned driving technology in mines, the global path planning, local path planning and driving control of unmanned vehicles all rely on the accuracy of three-dimensional maps. Therefore, the update frequency and real-time requirements of mine three-dimensional maps are relatively high. If a three-dimensional map representing the real-time terrain of the mine cannot be provided in time, it is easy to cause safety accidents of unmanned vehicles, posing a major safety hazard.

[0057] Therefore, in order to solve the above technical problems, refer to Figure 1 The present application embodiment provides a three-dimensional map collection and update system structure, including a cloud platform, a drone airport, a drone, a collection vehicle, and a map system. The map collection and update process steps are as follows: Figure 2 As shown:

[0058] Step S1: The cloud platform generates and sends tasks.

[0059] Among them, since the data collected by the drone can be used to update the base map and three-dimensional terrain of the three-dimensional map, while the data collected by the collection vehicle can only be used to update the three-dimensional terrain of the three-dimensional map, when collecting new areas, drones must be used for collection in order to update the base map in the current three-dimensional map. However, the cost of drone collection is relatively high. If drones are used in areas where the base map does not need to be updated, the cost is too high when the map is updated frequently. Therefore, based on cost considerations, the embodiment of the present application also uses a collection vehicle for data collection. Based on the actual situation of the area and the update frequency, determine whether to use an unmanned vehicle or a collection vehicle for data collection.

[0060] For example, for existing areas (i.e., areas where the base map does not need to be updated), the speed of terrain change is determined in combination with the work site corresponding to the area and the number of work vehicles (for example, when the work site is a loading area or a dumping site, its terrain change speed is faster than that of a refueling area or a road, and at the same work site, the more work vehicles there are, the faster the terrain change speed is). The map update frequency (i.e., update cycle) is determined based on the speed of terrain change. For areas with high map update frequency, collection vehicles are arranged for collection, and for areas with low map update frequency, drones are arranged for collection. Of course, for existing areas, only collection vehicles can be arranged for collection.

[0061] For tasks sent to drones: first determine the flight range based on geographic information data such as image basemaps, three-dimensional terrain, and high-precision maps, determine the flight altitude and lateral and longitudinal overlap rates of the route based on modeling resolution requirements, drone flight altitude, and sensor parameter performance indicators, and then calculate and optimize the flight trajectory, including planning flight longitude and latitude high trajectory points, setting sensor parameters, etc. Split the flight mission based on the drone's endurance performance to ensure that each subtask is completed within the drone's endurance. Save the aerial survey task after necessary quality inspection, send the task to the drone field, and then import it into the drone for automatic execution. Flight missions are completed through manual interactive editing on the platform, and can also be automatically generated after specifying the work area. For repeatable tasks, such as open-pit mine loading areas, spoil dumps, crushing stations, and other areas, tasks can be saved and periodic automatic tasks can be formulated.

[0062] For tasks sent to the collection vehicle: the cloud platform directly generates the collection task and sends it to the collection vehicle.

[0063] Step S2: The drone airport performs data collection and uploads data. After receiving the collection task issued by the platform, the drone airport decodes the task information and imports it into the drone. After the standard pre-flight inspection, including sensor status, power, communication, positioning, weather conditions, etc., it automatically takes off to perform the collection task after meeting the flight conditions. During the execution of the task, the cloud platform can monitor the drone status (position, altitude, speed, RTK, power, etc.) and sensor data in real time. When the flight mission is completed, it automatically returns to the drone airport to upload the original data and charge. After completion, it continues to perform subsequent tasks until the entire mission is completed. Design a fault detection and processing mechanism. The drone airport (including drones) detects and reports faults in real time. Design different processing solutions based on different fault levels. For example, if it cannot take off in rainy, snowy and windy weather, choose to postpone the execution of the task. Communication and positioning failures require notification of operation intervention. Aircraft and sensor hardware failures require hardware team intervention.

[0064] The collection vehicle performs the collection task and uploads it. First of all, the collection vehicle is divided into two types according to the actual situation. The first type of collection vehicle is an operating vehicle that is performing an operating task in the area to be collected and has the function of collecting data, such as an excavator, a mining truck, etc. It itself has excavation or loading / unloading tasks in the area to be collected. It will collect corresponding map data for decision-making during the execution of the task. The cloud platform can send the collection task to these vehicles, and then these vehicles will upload the data collected during the execution of their operating tasks to the cloud platform after receiving the task.

[0065] The second type is vehicles that are not performing tasks in the area to be collected. That is, the cloud platform needs to arrange special vehicles to go to the area to be collected to perform collection tasks. These special vehicles can be unmanned collection vehicles or manned collection vehicles. The collected data is uploaded to the cloud platform.

[0066] Step S3: Automatic modeling on the cloud platform. The cloud platform automatically receives the original data uploaded by the drone airport or collection vehicle in step S2 and verifies the data integrity and validity. After completion, it performs storage backup and then calls the 3D modeling API (or imports the data into a dedicated 3D modeling processing cloud server for automated processing). Finally, it generates the mission area DOM (digital orthophoto), 3D model and point cloud data as important node achievement data storage, which can be displayed on the platform or third-party software.

[0067] Step S4: The map system processes the base map and three-dimensional terrain and publishes them to the cloud platform, where the map system can be a module in the cloud platform or a module independent of the cloud platform. The map system is responsible for the automated production and update of the base map and terrain data. The DOM and point cloud data obtained in step S3 are imported into the map system. First, the orthophoto of the mission area is mosaicked onto the regional large base map, and the edge area is optimized and sliced ​​to generate a tile base map in 3DTiles format, which is published on the cloud platform to obtain the updated base map. After a series of point cloud preprocessing, semantic segmentation, and terrain sampling, the point cloud data is generated into a DEM (digital elevation model) for the mission area, which is updated to the regional large DEM and sliced ​​to generate a tile three-dimensional terrain in 3DTiles format, which is published on the cloud platform to obtain the updated three-dimensional terrain.

[0068] The open-pit mine 3D map collection and update system provided by this application scheme uses unmanned drone fields and collection vehicles in mines to formulate collection plans through the cloud platform and send them to drones or collection vehicles for automatic execution. After collecting target area data, flight data or collection data is automatically uploaded, and the cloud platform automatically models and processes them before publishing them to the cloud platform for automatic updates. The automated assembly line and unmanned operation process greatly improve the efficiency of collection and update and reduce costs. Through high-frequency automatic operations, map changes at the operation site can be reflected in a timely manner, providing high-precision, near-real-time environmental data for operators and autonomous driving systems.

[0069] Based on the same inventive concept, the embodiment of the present application provides a three-dimensional map acquisition and update method, which is applied to a cloud platform, including:

[0070] S11: Obtain the location of the area to be collected and the current three-dimensional map;

[0071] Among them, the current three-dimensional map is stored on the cloud platform and can be directly obtained.

[0072] The area to be collected can be obtained based on the two-dimensional map, where the area corresponding to the current three-dimensional map is part of the area corresponding to the two-dimensional map, that is, the two-dimensional map is larger. In this way, the user can directly define the range on the two-dimensional map to obtain the location of the area to be collected, or enter the corresponding boundary coordinates to define the location of the area to be collected, or if the location of the area to be collected is set with a unique identifier or a unique name, the user can also enter the unique identifier or unique name to obtain the location of the area to be collected.

[0073] S12: Determine the area attribute of the area to be collected, where the area attribute is used to indicate whether the location of the area to be collected is an existing location on the current three-dimensional map;

[0074] Exemplarily, the area data can determine whether the location of the area to be collected is an existing location on the current three-dimensional map according to the correspondence between the two-dimensional map and the three-dimensional map.

[0075] S13: Determine an execution device based on the area attributes and generate a collection task, wherein the execution device includes a drone and a collection vehicle.

[0076] In one embodiment, the determining of the execution device based on the regional attribute includes:

[0077] When the area attribute is the first area attribute, it is determined that the execution device is a drone, and the first area attribute is used to characterize that the location of the area to be collected is not an existing location on the current three-dimensional map. Because when the area attribute is the first area attribute, the location of the area to be collected is not on the current three-dimensional map, that is, the area to be collected is a newly added area, and the base map needs to be updated when updating the three-dimensional map, so the base map must be updated based on the data collected by the drone. In addition, the drone has a fast collection speed and a wide collection range.

[0078] In another embodiment, when the area to be collected is an area in an open-pit mine, the determining of the execution device based on the area attribute includes:

[0079] In the case where the area attribute is the second area attribute, the area type of the area to be collected is obtained, and the second area attribute is used to characterize that the position of the area to be collected is an existing position on the current three-dimensional map; based on the area type, the terrain change speed of the area to be collected is determined, and the terrain change speed is determined based on the operating conditions of the open-pit mine; based on the terrain change speed, the execution device is determined.

[0080] It is understandable that due to internal operations in open-pit mines, the speed of terrain change is much faster than in other scenarios. Therefore, if drones are used for collection, the cost will be too high. Therefore, the execution equipment also includes collection vehicles.

[0081] Exemplarily, determining an execution device based on the terrain change speed includes:

[0082] When the terrain change speed is greater than a preset terrain change speed, the execution device is determined to be a collection vehicle; that is, when the terrain changes faster, the execution device is used as a collection vehicle. Therefore, the faster the terrain changes, the higher the map update frequency and the higher the data collection frequency. At this time, using a collection vehicle can effectively reduce costs.

[0083] When the terrain change speed is less than or equal to the preset terrain change speed, the execution device is determined to be a drone and / or a collection vehicle. That is, when the terrain change speed is relatively low, the execution device is either a drone or a collection vehicle.

[0084] Of course, the two can actually be used in combination. Because the frequency of drone data collection is limited due to the number of drones and the size of the area to be collected, when the actual data collection frequency is higher than the frequency that drones can provide, additional collection vehicles can be used for data collection. Or conversely, collection vehicles are given priority for data collection. When the frequency of data collection by collection vehicles cannot meet actual needs, drones are used for data collection.

[0085] When the execution device is a drone, a collection task is generated, including:

[0086] Obtain the modeling resolution requirement and the sensor parameters of the drone; determine the flight altitude, the lateral overlap rate of the route, and the longitudinal overlap rate of the route based on the modeling resolution requirement and the sensor parameters of the drone. When the sensor parameters remain unchanged, the higher the modeling resolution requirement, the higher the lateral overlap rate of the route and the longitudinal overlap rate of the route; generate a flight trajectory based on the flight altitude, the lateral overlap rate of the route, and the longitudinal overlap rate of the route. The lateral overlap rate and the longitudinal overlap rate of the route are for data with sufficient angles when modeling (when the angles are less, the modeling effect is poor).

[0087] For example, based on the modeling resolution requirements, the flight altitude of the drone and the performance indicators of sensor parameters, the flight altitude and the lateral and longitudinal overlap rates of the route are determined, and then the flight trajectory is calculated and optimized, including planning the flight latitude and longitude high trajectory points, setting sensor parameters, etc. The flight mission is split based on the endurance performance of the drone to ensure that each subtask is completed within the endurance range of the drone. After necessary quality inspection, the aerial survey task is saved, and the task is sent to the drone airport and then imported into the drone for automatic execution.

[0088] As a preferred implementation method of the embodiment of the present application, when it is determined that the execution device is a drone, the collection task is sent to the drone airport, and the collection task is used to instruct the drone airport to dispatch the drone to the area to be collected to collect data;

[0089] When the drone airport dispatches the drone to perform the collection task, the drone airport is further used to: obtain preset parameters and monitor whether a fault occurs according to the preset parameters; determine the fault type of the fault when a fault occurs, and process and report it according to the processing scheme corresponding to the fault type, wherein the preset parameters include drone status, communication and positioning data, and weather data, and the processing scheme includes any one of the following:

[0090] In the event of a failure to take off due to weather conditions, choose to postpone the mission;

[0091] Send notifications to relevant personnel in the event of communication and positioning failures, or in the event of drone or sensor failure.

[0092] That is, after the drone airport receives the collection task issued by the platform, it decodes the collection task and imports it into the drone. After a standard pre-flight check, including sensor status, power, communication, positioning, weather conditions, etc., it automatically takes off to perform the collection task when the flight conditions are met. During the execution of the task, the cloud platform can monitor the drone status (position, altitude, speed, RTK, power, etc.) and sensor data in real time. When the flight mission is completed, it will automatically return to the drone airport to upload the original data and charge. After completion, it will continue to perform subsequent tasks until the entire mission is completed.

[0093] Design a fault detection and handling mechanism, and enable the UAV airport (including UAVs) to detect and report faults in real time. Design different handling plans based on different fault levels. For example, if the flight cannot be taken off in rainy, snowy and windy weather, the mission will be postponed. Communication and positioning failures require notification of operations intervention, and aircraft and sensor hardware failures require intervention by the hardware team.

[0094] As a preferred implementation method of the embodiment of the present application, when it is determined that the execution device is a collection vehicle, a working vehicle in the area to be collected is obtained; when the working vehicle has data collection capabilities, the collection task is assigned to the working vehicle.

[0095] Exemplarily, the global path of the first working vehicle is obtained, and the area to be collected is divided into multiple subtasks according to the global path of the first working vehicle, and each subtask is used to instruct a first working vehicle to collect data around its global path while traveling along its global path. The first working vehicle is a vehicle that performs working tasks in the area to be collected and has data collection capabilities. The area around the global path refers to the area within a preset distance to the global path, and the preset distance is determined according to the data collection range of the first working vehicle corresponding to the global path.

[0096] If there is at least one first working vehicle going to collect at each location in the area to be collected, there is no need to re-arrange the collection vehicle. However, if there is at least one location in the area to be collected that is not collected by the first working vehicle, it is necessary to determine a second working vehicle to perform the task. The second working vehicle can be a specially set collection vehicle, or a working vehicle that is performing other tasks in the area to be collected, or an idle vehicle in the area to be collected or closest to the area to be collected.

[0097] As a preferred implementation method of the embodiment of the present application, it also includes:

[0098] Get the area type of the area to be collected; if the area type belongs to the preset periodic area type, such as open-pit mine loading area, spoil dump, crushing station and other areas, save the collection task and perform a collection task once according to the preset period; the periodic area type is used to indicate that the area needs to collect data periodically. That is, for periodic tasks, the tasks can be saved and then issued periodically, especially for drone collection tasks. As long as the area to be collected remains unchanged, the collection tasks can basically adopt the last plan without the need to be re-formulated.

[0099] S14: Acquire the data collected by the execution device, and update the current three-dimensional map based on the data, wherein the data collected by the drone is used to update the base map and three-dimensional terrain of the current three-dimensional map; the data collected by the collection vehicle is used to update the three-dimensional terrain of the current three-dimensional map.

[0100] Preferably, target data of the area to be collected is generated based on the data, and the target data includes digital orthophotos and / or point cloud data;

[0101] The digital orthophoto is mosaicked on the base map of the current three-dimensional map, and the edge area is processed and sliced ​​to obtain a tile base map in a preset format; and a digital elevation model is obtained according to the point cloud data, and the digital elevation model is updated to the digital elevation model of the current three-dimensional map, and then sliced ​​to obtain a three-dimensional terrain in a preset format. Exemplarily, the preset format is 3DTiles format.

[0102] Based on the same inventive concept, Figure 4 As shown, the present application provides a three-dimensional map collection and updating device 40, comprising:

[0103] The area and map acquisition module 41 is used to acquire the location of the area to be collected and the current three-dimensional map.

[0104] The area attribute determination module 42 is used to determine the area attribute of the area to be collected, and the area attribute is used to indicate whether the position of the area to be collected is an existing position on the current three-dimensional map.

[0105] The execution device determination module 43 is used to determine the execution device based on the area attributes and generate a collection task, and the execution device includes a drone and a collection vehicle.

[0106] In an optional embodiment, determining an execution device based on the area attribute includes:

[0107] In the case where the area attribute is a first area attribute, it is determined that the execution device is a drone, and the first area attribute is used to characterize that the position of the area to be collected is not an existing position on the current three-dimensional map.

[0108] In another optional embodiment, when the area to be collected is an area in an open-pit mine, the determining of the execution device based on the area attribute includes:

[0109] In the case where the area attribute is the second area attribute, the area type of the area to be collected is obtained, and the second area attribute is used to characterize that the position of the area to be collected is an existing position on the current three-dimensional map; based on the area type, the terrain change speed of the area to be collected is determined, and the terrain change speed is determined based on the operating conditions of the open-pit mine; based on the terrain change speed, the execution device is determined.

[0110] Preferably, determining the execution device based on the terrain change speed includes:

[0111] When the terrain change speed is greater than a preset terrain change speed, the execution device is determined to be a collection vehicle; when the terrain change speed is less than or equal to a preset terrain change speed, the execution device is determined to be a drone and / or a collection vehicle.

[0112] It should be noted that it also includes:

[0113] When it is determined that the execution device is a drone, the collection task is sent to the drone airport, and the collection task is used to instruct the drone airport to dispatch the drone to the area to be collected to collect data; when the drone airport dispatches the drone to perform the collection task, the drone airport is also used to: obtain preset parameters and monitor whether a fault occurs according to the preset parameters; when a fault occurs, determine the fault type of the fault, and process and report it according to the processing plan corresponding to the fault type, the preset parameters include drone status, communication and positioning data, and weather data, and the processing plan includes any one of the following: when a fault occurs that prevents take-off due to weather reasons, choose to postpone the execution of the task; when communication and positioning failures occur, or when a drone or sensor failure occurs, send a notification to relevant personnel.

[0114] Also includes:

[0115] When it is determined that the execution device is a collection vehicle, a working vehicle in the area to be collected is obtained; when the working vehicle has data collection capability, the collection task is assigned to the working vehicle.

[0116] In addition, the generation of the acquisition task includes:

[0117] Acquire the modeling resolution requirement and the sensor parameters of the UAV; determine the flight altitude, the lateral overlap rate of the route, and the longitudinal overlap rate of the route based on the modeling resolution requirement and the sensor parameters of the UAV, when the sensor parameters remain unchanged, the higher the modeling resolution requirement, the higher the lateral overlap rate of the route and the longitudinal overlap rate of the route; generate a flight trajectory based on the flight altitude, the lateral overlap rate of the route, and the longitudinal overlap rate of the route.

[0118] Furthermore, the area type of the area to be collected is obtained; if the area type belongs to a preset periodic area type, the collection task is saved, and a collection task is performed once according to a preset period; the periodic area type is used to indicate that the area needs to collect data periodically.

[0119] The three-dimensional map update module 44 is used to obtain the data collected by the execution device and update the current three-dimensional map based on the data, wherein the data collected by the drone is used to update the base map and three-dimensional terrain of the current three-dimensional map; the data collected by the collection vehicle is used to update the three-dimensional terrain of the current three-dimensional map.

[0120] As a preferred implementation method of the embodiment of the present application, updating the current three-dimensional map based on the data includes:

[0121] Generate target data of the area to be collected based on the data, the target data including digital orthophotos and / or point cloud data; mosaic the digital orthophotos on the base map of the current three-dimensional map, and slice the edge areas after processing to obtain a tile base map in a preset format; and obtain a digital elevation model based on the point cloud data, update the digital elevation model to the digital elevation model of the current three-dimensional map, and then slice the model to obtain a three-dimensional terrain in a preset format.

[0122] Based on the same inventive concept, the present application provides a computer-readable storage medium having a computer program or instructions stored thereon. When the computer program or instructions are executed by a processor, the steps of the three-dimensional map acquisition and updating method provided in any of the above embodiments are implemented.

[0123] Based on the same inventive concept, the present application provides an electronic device, including:

[0124] at least one processor and at least one memory;

[0125] The memory stores executable instructions of the processor;

[0126] The processor is configured to execute the three-dimensional map acquisition and updating method provided in any one of the above embodiments.

[0127] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0128] It should be noted that, in the description of this application, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0129] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0130] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0131] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0132] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0133] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0134] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0135] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A three-dimensional map acquisition and updating method, characterized in that: include: Get the location of the area to be collected and the current three-dimensional map; Determine a region attribute of the area to be collected, where the region attribute is used to indicate whether the location of the area to be collected is an existing location on the current three-dimensional map; Determine an execution device based on the regional attributes and generate a collection task, wherein the execution device includes a drone and a collection vehicle; Acquire the data collected by the execution device, and update the current three-dimensional map based on the data, wherein the data collected by the drone is used to update the base map and three-dimensional terrain of the current three-dimensional map; the data collected by the collection vehicle is used to update the three-dimensional terrain of the current three-dimensional map.

2. The method according to claim 1, characterized in that The determining of the execution device based on the area attribute includes: In the case where the area attribute is a first area attribute, it is determined that the execution device is a drone, and the first area attribute is used to characterize that the position of the area to be collected is not an existing position on the current three-dimensional map.

3. The method according to claim 1, characterized in that When the area to be collected is an area in an open-pit mine, the determining of the execution device based on the area attribute includes: In the case where the area attribute is a second area attribute, acquiring an area type of the area to be collected, wherein the second area attribute is used to characterize that the location of the area to be collected is an existing location on the current three-dimensional map; Determining a terrain change speed of the area to be collected based on the area type, wherein the terrain change speed is determined based on the operating conditions of the open-pit mine; An execution device is determined based on the terrain change speed.

4. The method according to claim 3, characterized in that: The determining of the execution device based on the terrain change speed includes: When the terrain change speed is greater than a preset terrain change speed, determining that the execution device is a collection vehicle; When the terrain change speed is less than or equal to a preset terrain change speed, it is determined that the execution device is a drone and / or a collection vehicle.

5. The method according to claim 2 or 4, characterized in that: Also includes: When it is determined that the execution device is a drone, the collection task is sent to the drone airport, where the collection task is used to instruct the drone airport to dispatch the drone to the area to be collected to collect data; When the drone airport dispatches the drone to perform the collection task, the drone airport is further used to: obtain preset parameters and monitor whether a fault occurs according to the preset parameters; determine the fault type of the fault when a fault occurs, and process and report it according to the processing scheme corresponding to the fault type, wherein the preset parameters include drone status, communication and positioning data, and weather data, and the processing scheme includes any one of the following: In the event of a failure to take off due to weather conditions, choose to postpone the mission; Send notifications to relevant personnel in the event of communication and positioning failures, or in the event of drone or sensor failure.

6. The method according to claim 4, characterized in that Also includes: When it is determined that the execution device is a collection vehicle, obtaining an operating vehicle in the area to be collected; When the working vehicle has data collection capability, the collection task is assigned to the working vehicle.

7. The method according to claim 1, characterized in that The updating of the current three-dimensional map based on the data comprises: Generate target data of the area to be collected based on the data, wherein the target data includes digital orthophotos and / or point cloud data; The digital orthophoto is mosaicked on the base map of the current three-dimensional map, and the edge area is processed and then sliced ​​to obtain a tile base map in a preset format; and a digital elevation model is obtained according to the point cloud data, the digital elevation model is updated to the digital elevation model of the current three-dimensional map, and then sliced ​​to obtain a three-dimensional terrain in a preset format.

8. The method according to claim 2, characterized in that: The generating of the acquisition task includes: Obtaining modeling resolution requirements and sensor parameters of the UAV; Determine the flight altitude, the lateral overlap rate of the route, and the longitudinal overlap rate of the route based on the modeling resolution requirement and the sensor parameters of the UAV, when the sensor parameters remain unchanged, the higher the modeling resolution requirement, the higher the lateral overlap rate of the route and the longitudinal overlap rate of the route; A flight trajectory is generated based on the flight altitude, the lateral overlap rate of the routes, and the longitudinal overlap rate of the routes.

9. The method according to claim 1, characterized in that: Also includes: Obtaining the area type of the area to be collected; If the area type belongs to the preset periodic area type, the collection task is saved, and a collection task is performed once according to the preset period; The periodic region type is used to indicate that a region needs to collect data periodically.

10. A three-dimensional map collection and updating device, characterized in that: include: The area and map acquisition module is used to obtain the location of the area to be collected and the current three-dimensional map; A region attribute determination module, used to determine the region attribute of the region to be collected, wherein the region attribute is used to indicate whether the location of the region to be collected is an existing location on the current three-dimensional map; An execution device determination module, used to determine an execution device based on the regional attributes and generate a collection task, wherein the execution device includes a drone and a collection vehicle; The three-dimensional map update module is used to obtain the data collected by the execution device and update the current three-dimensional map based on the data, wherein the data collected by the drone is used to update the base map and three-dimensional terrain of the current three-dimensional map; the data collected by the collection vehicle is used to update the three-dimensional terrain of the current three-dimensional map.

11. An electronic device, characterized in that: include: at least one processor and at least one memory; The memory stores executable instructions of the processor; The processor is configured to execute the method according to any one of claims 1 to 9.

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