Map generation method and device, electronic equipment and storage medium
By obtaining and processing the driving routes and trajectory coordinates of candidate power exchange mine trucks, the target map of the target mine is generated, and the problem of map update of open-pit mine road network is solved, fast and accurate map updates and data collection are achieved, and the efficiency of mine scheduling is improved.
Patent Information
- Application Number
- CN202311315176.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-10-11
- Publication Date
- 2025-04-11
AI Technical Summary
It is difficult for the existing technology to quickly update the open-pit mine road network map, especially when the mine terrain changes frequently, which affects the dispatcher's effective dispatch of vehicle equipment.
By obtaining the driving route of the candidate battery swap truck, determine the trajectory coordinates of the target battery swap truck, and convert it into the target spatial coordinates to generate the target map of the target mine. The method includes calculating route similarity, clustering candidate power exchange trucks, selecting the vehicle with the longest route as the target power exchange truck, and performing similarity matching in case of a failure to replace the faulty vehicle.
It realizes rapid updates to the mine road network map, provides more accurate and real data, reduces data collection costs, and improves dispatchers' real-time understanding of mine terrain changes.
Smart Images
Figure CN119803495A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the technical field of road network control, and in particular to a map generation method, device, electronic device and storage medium. Background Art
[0002] As a traditional energy industry, coal mines account for a very high proportion of carbon dioxide emissions in the country each year. In order to achieve the green transformation of coal mining enterprises, more and more coal mines are introducing battery-swapped mining trucks to participate in transportation operations. The open-pit mine road network map is the basis of mine production operations. At the same time, dispatchers need to keep abreast of changes in mine terrain when dispatching vehicles and equipment. How to quickly update the road network map has become a focus of more and more scholars. Summary of the invention
[0003] The present disclosure aims to solve one of the technical problems in the related art at least to some extent.
[0004] To this end, one objective of the present disclosure is to propose a map generation method.
[0005] A second objective of the present disclosure is to provide a map generating device.
[0006] A third objective of the present disclosure is to provide an electronic device.
[0007] A fourth object of the present disclosure is to provide a non-transitory computer-readable storage medium.
[0008] A fifth object of the present disclosure is to provide a computer program product.
[0009] To achieve the above-mentioned purpose, the first aspect of the present disclosure proposes a map generation method, including: obtaining candidate battery-swap mine trucks operating in a target mine, and obtaining the driving routes corresponding to the candidate battery-swap mine trucks; determining a target battery-swap mine truck from the candidate battery-swap mine trucks based on the driving routes; collecting the trajectory coordinates of the target battery-swap mine truck, and converting the trajectory coordinates into target space coordinates; and generating a target map of the target mine based on the target space coordinates.
[0010] According to one embodiment of the present disclosure, determining the target battery-swap mine truck from the candidate battery-swap mine trucks based on the driving route includes: calculating the route similarity of any two candidate battery-swap mine trucks based on the driving route; dividing the two candidate battery-swap mine trucks whose similarity is greater than a similarity threshold into the same cluster; for any cluster, selecting the candidate battery-swap mine truck with the longest driving route as the target battery-swap mine truck.
[0011] According to one embodiment of the present disclosure, the method also includes: in response to a failure of the target battery-swapping mine truck, selecting a candidate battery-swapping mine truck with the greatest similarity to the route of the failed target battery-swapping mine truck from the cluster corresponding to the target battery-swapping mine truck as a new target battery-swapping mine truck.
[0012] According to one embodiment of the present disclosure, the collecting of the trajectory coordinates of the target battery-swapping mining truck and converting the trajectory coordinates into target space coordinates includes: obtaining translation parameters, rotation parameters and scale parameters; and determining the target space coordinates based on the translation parameters, the rotation parameters, the scale parameters and the trajectory coordinates.
[0013] According to one embodiment of the present disclosure, the calculation formula for determining the target space coordinates based on the translation parameter, the rotation parameter, the scale parameter and the trajectory coordinates is:
[0014]
[0015] Among them, X2, Y2, and Z2 are the X-axis coordinates, Y-axis coordinates, and Z-axis coordinates of the target space coordinates, respectively; X1, Y1, and Z1 are the X-axis coordinates, Y-axis coordinates, and Z-axis coordinates of the trajectory coordinates, respectively; K is the scale parameter, and r x 、r y and r z are respectively the X-axis scale parameter, Y-axis scale parameter and Z-axis scale parameter of the trajectory coordinates, and dX, dY, and dZ are respectively the X-axis translation parameter, Y-axis translation parameter and Z-axis translation parameter of the trajectory coordinates.
[0016] According to one embodiment of the present disclosure, generating a target map of the target mine based on the target spatial coordinates also includes: splicing the target spatial coordinates to generate multiple candidate routes; comparing the candidate routes with historical map routes; in response to the candidate routes not existing in the historical routes, updating the candidate routes to the historical map to generate the target map; or, in response to the historical routes not existing in the candidate routes, eliminating the historical routes in the historical map to generate the target map.
[0017] According to one embodiment of the present disclosure, before the target space coordinates are spliced, it also includes: performing missing data processing and error data processing on the target space coordinates respectively; performing missing data processing on the target space coordinates respectively, including: determining the time difference between adjacent target space coordinates, and inserting supplementary coordinates between adjacent target space coordinates whose time difference is greater than a threshold; performing error data processing on the target space coordinates respectively, including: determining the Mahalanobis distance between adjacent target space coordinates, and in response to the Mahalanobis distance being greater than the distance threshold, deleting the adjacent target space coordinates and inserting replacement coordinates.
[0018] To achieve the above-mentioned purpose, the second aspect embodiment of the present disclosure proposes a map generation device, including: an acquisition module, used to acquire candidate battery-swap mine trucks operating in a target mine, and acquire the driving routes corresponding to the candidate battery-swap mine trucks; a determination module, used to determine the target battery-swap mine truck from the candidate battery-swap mine trucks based on the driving routes; a conversion module, used to collect the trajectory coordinates of the target battery-swap mine truck, and convert the trajectory coordinates into target space coordinates; a generation module, used to generate a target map of the target mine based on the target space coordinates.
[0019] To achieve the above-mentioned purpose, the third aspect embodiment of the present disclosure proposes an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to implement the map generation method as described in the first aspect embodiment of the present disclosure.
[0020] To achieve the above-mentioned purpose, the fourth aspect embodiment of the present disclosure proposes a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to implement the map generation method as described in the first aspect embodiment of the present disclosure.
[0021] To achieve the above-mentioned purpose, the fifth aspect of the present disclosure proposes a computer program product, including a computer program, which, when executed by a processor, is used to implement the map generation method as described in the first aspect of the present disclosure.
[0022] Therefore, by collecting data on candidate battery-swap mining trucks operating in the target mine, there is no need to arrange separate vehicles for data collection, which can reduce the cost of data collection. At the same time, data collection through operating vehicles can provide more realistic data, and the trajectory coordinates can be converted into target space coordinates in a unified coordinate system, so that a more accurate target map of the target mine can be generated. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] Figure 1is a schematic diagram of a map generation method according to an embodiment of the present disclosure;
[0024] Figure 2 It is a structural diagram of a dispatching and commanding platform according to one embodiment of the present disclosure;
[0025] Figure 3 is a schematic diagram of another map generation method according to an embodiment of the present disclosure;
[0026] Figure 4 is a schematic diagram of another map generation method according to an embodiment of the present disclosure;
[0027] Figure 5 is a schematic diagram of a map generating device according to an embodiment of the present disclosure;
[0028] Figure 6 is a schematic diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION
[0029] Embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.
[0030] The acquisition, storage, use, and processing of data in the technical solution disclosed in this disclosure are in compliance with the relevant provisions of national laws and regulations.
[0031] Figure 1 is a schematic diagram of a map generation method according to an embodiment of the present disclosure, such as Figure 1 As shown, the map generation method includes the following steps:
[0032] S101, obtaining candidate battery-swap mining trucks operating in a target mine, and obtaining driving routes corresponding to the candidate battery-swap mining trucks.
[0033] The map generation method of the embodiment of the present application can be applied to the scenario of establishing or updating a mine map. The executor of the map generation of the embodiment of the present application can be the map generation device of the embodiment of the present application, and the map generation device can be set on an electronic device.
[0034] In the disclosed embodiment, the battery-swap mining truck is a vehicle that performs normal operations in the target mine operation. The battery-swap mining truck can be an automatic driving vehicle or a manually driven vehicle, and no limitation is made here.
[0035] It should be noted that the driving routes corresponding to the candidate battery-swap mining trucks are designed in advance and can be changed according to actual operational needs, and no restrictions are imposed here. Therefore, by collecting data on the candidate battery-swap mining trucks operating in the target mine, there is no need to arrange separate vehicles for data collection, which can reduce the cost of data collection. At the same time, data collection through operating vehicles can provide more realistic data.
[0036] S102, determining a target battery-swapping mining truck from candidate battery-swapping mining trucks based on the driving route.
[0037] It is understandable that the candidate battery-swap mining trucks operating in the target mine may have duplicate routes or the same destination for operational needs. Therefore, it is necessary to determine the target battery-swap mining truck from the candidate battery-swap mining trucks to avoid duplicate data and improve the efficiency and accuracy of subsequent data processing.
[0038] It should be noted that there may be many methods for determining the target battery-swapping mining truck from the candidate battery-swapping mining trucks based on the driving route, and no limitation is made here.
[0039] Optionally, all driving routes can be input into a target battery-swapping mining truck determination model to determine the target battery-swapping mining truck. The target battery-swapping mining truck determination model is trained in advance and stored in the storage space of the electronic device for easy retrieval when needed.
[0040] Optionally, the correlation between different driving routes may also be calculated, and a target driving route may be determined based on the correlation to determine a target battery-swapping mining truck.
[0041] S103, collecting the trajectory coordinates of the target battery-swapping mining truck, and converting the trajectory coordinates into target space coordinates.
[0042] In the disclosed embodiment, after the target battery-swap mining truck is determined, a position coordinate acquisition device may be installed on the target battery-swap mining truck to acquire the trajectory coordinates of the target battery-swap mining truck.
[0043] It should be noted that since the coordinates collected by RTK are expressed in geodetic longitude and latitude, and the mine road network map is described in a plane coordinate system, the conversion from geodetic longitude and latitude data to plane coordinate data must be completed before the road network map is generated. Therefore, it is necessary to convert the trajectory coordinates into the target space coordinates in a unified coordinate system.
[0044] The position coordinate acquisition device may be of various types, for example, it may be an acquisition tool based on real-time kinematic (RTK) measurement technology.
[0045] It should be noted that there are many methods for converting trajectory coordinates into target space coordinates, which are not limited here.
[0046] Optionally, the trajectory coordinates may be processed by a preset algorithm to generate the target space coordinates. This method may be designed in advance and may be changed according to actual design needs, and is not limited here.
[0047] Optionally, the trajectory coordinates may be input into a target space coordinate conversion model to generate target space coordinates. The target space coordinate conversion model is trained in advance and stored in a storage space of an electronic device for easy retrieval and use when needed.
[0048] S104, generating a target map of the target mine based on the target spatial coordinates.
[0049] In the disclosed embodiment, firstly, the candidate battery-swap mining trucks operating in the target mine are obtained, and the driving routes corresponding to the candidate battery-swap mining trucks are obtained. Then, the target battery-swap mining truck is determined from the candidate battery-swap mining trucks based on the driving routes. Then, the trajectory coordinates of the target battery-swap mining truck are collected, and the trajectory coordinates are converted into target space coordinates. Finally, based on the target space coordinates, a target map of the target mine is generated. Therefore, by collecting data on the candidate battery-swap mining trucks operating in the target mine, there is no need to arrange vehicles separately for data collection, which can reduce the cost of data collection. At the same time, data collection by operating vehicles can provide more realistic data, and the trajectory coordinates are converted into target space coordinates in a unified coordinate system, so that a more accurate target map of the target mine can be generated.
[0050] In the embodiment of the present disclosure, a target map of a target mine is generated based on the target spatial coordinates. The target spatial coordinates may be first concatenated to generate multiple candidate routes, and then the candidate routes may be compared with the routes in the historical map. In response to the absence of candidate routes in the historical routes, the candidate routes may be updated to the historical map to generate the target map. Alternatively, in response to the absence of historical routes in the candidate routes, the historical routes in the historical map may be eliminated to generate the target map.
[0051] In the disclosed embodiment, two-dimensional Boolean operations can be used for splicing through incremental updates. The specific process is to define a matrix M and initialize all elements to 0, and store the trajectory points in the memory into M one by one: for the trajectory point with road network coordinates (x, y), T[i][j] is set to 1, which indicates that there is a valid trajectory point at the (x, y) position of the road network map coordinate system.
[0052] In a possible implementation, the map generation method of the present disclosure can also be implemented as follows: Figure 2 The dispatching command platform shown in the figure is implemented. Figure 2As shown in the figure, the dispatching command platform architecture is divided into 4 layers from bottom to top:
[0053] Equipment layer: basic hardware facilities of terminal equipment, sensors and communication positioning equipment are responsible for data collection;
[0054] Access layer: The terminal device transmits the collected data to the IoT platform layer through a proprietary protocol;
[0055] IoT platform layer: The message bus provides message sending and subscription functions, allowing upper and lower layer applications to exchange messages concurrently;
[0056] Cloud: Each service component is responsible for data processing and cleaning to complete map updates.
[0057] It should be noted that this technology integrates and upgrades the on-board terminal. First, on the equipment side, an RTK positioning device is installed on the battery-swapping mining truck, so that the battery-swapping mining truck can collect road network data in real time during production operations. The collected positioning trajectory data is transmitted to the platform through the gateway unit of the access layer and the 5G network. The cloud platform cleans the collected data through the map service component and automatically updates the map. The update command stores the data in the Redis database.
[0058] In the above embodiment, the target battery-swapping mining truck is determined from the candidate battery-swapping mining trucks based on the driving route, and the target battery-swapping mining truck can also be determined by Figure 3 Explaining further, the method includes:
[0059] S301, based on the driving routes, calculate the route similarity of any two candidate battery-swap mining trucks.
[0060] In the presently disclosed embodiment, the route similarity between any two candidate battery-swap mining trucks may be expressed as the degree of repetition between the routes of the two candidate battery-swap mining trucks.
[0061] In the disclosed embodiment, the route similarity between any two candidate battery-swapping mining trucks can be calculated using a natural language algorithm.
[0062] S302, classifying two candidate battery-swap mining trucks whose similarity is greater than a similarity threshold into the same cluster.
[0063] It should be noted that the similarity threshold is set in advance and can be changed according to actual design needs, and no limitation is made here.
[0064] Through similarity calculation, candidate battery-swap mining trucks with overlapping routes can be clustered to generate multiple clusters.
[0065] S303: For any cluster, select the candidate battery-swapping mining truck with the longest driving route as the target battery-swapping mining truck.
[0066] It is understandable that in a cluster, the longest driving route can cover most of the other driving routes. Therefore, the candidate battery-swapping mining truck with the longest driving route can be selected as the target battery-swapping mining truck for data collection to improve the accuracy of data collection and cover all routes as comprehensively as possible.
[0067] In the disclosed embodiment, firstly, the route similarity of any two candidate battery-swap mining trucks is calculated based on the driving routes, and then the two candidate battery-swap mining trucks with similarity greater than the similarity threshold are divided into the same cluster, and finally, for any cluster, the candidate battery-swap mining truck with the longest driving route is selected as the target battery-swap mining truck. By calculating the route similarity, clustering, and determining the target battery-swap mining truck based on the cluster, the comprehensiveness of data collection can be ensured while reducing the number of vehicles involved in data collection and the cost of data collection.
[0068] In an embodiment of the present disclosure, in response to a target battery-swapping mine truck failing, a candidate battery-swapping mine truck having the greatest route similarity to the failed target battery-swapping mine truck is selected from the cluster corresponding to the target battery-swapping mine truck as the new target battery-swapping mine truck.
[0069] In the above embodiment, the trajectory coordinates of the target battery-changing mining truck are collected and converted into the target space coordinates. Figure 4 Explaining further, the method includes:
[0070] S401, obtaining translation parameters, rotation parameters and scale parameters.
[0071] Since the coordinates collected by RTK are expressed in geodetic longitude and latitude, and the mine road network map is described in a plane coordinate system, the conversion from geodetic longitude and latitude data to plane coordinate data must be completed before the road network map is generated. The present invention uses seven parameters to convert the coordinates.
[0072] The seven-parameter coordinate transformation principle is a method for converting between different coordinate systems. It is based on the assumption that the earth is an ellipsoid and can be described by a mathematical model. This mathematical model includes seven parameters, namely three translation parameters, three rotation parameters and one scale parameter.
[0073] S402, determining the target space coordinates based on the translation parameter, the rotation parameter, the scale parameter and the trajectory coordinates.
[0074] In the embodiment of the present disclosure, based on the translation parameter, rotation parameter, scale parameter and trajectory coordinates, the calculation formula for determining the target space coordinates is:
[0075]
[0076] Among them, X2, Y2, and Z2 are the X-axis coordinates, Y-axis coordinates, and Z-axis coordinates of the target space coordinates, respectively; X1, Y1, and Z1 are the X-axis coordinates, Y-axis coordinates, and Z-axis coordinates of the trajectory coordinates, respectively; K is the scale parameter, and r x 、r y and r z are the X-axis scale parameter, Y-axis scale parameter and Z-axis scale parameter of the trajectory coordinates, respectively; dX, dY and dZ are the X-axis translation parameter, Y-axis translation parameter and Z-axis translation parameter of the trajectory coordinates, respectively.
[0077] It should be noted that before the target space coordinates are spliced, the target space coordinates need to be processed for missing data and erroneous data respectively.
[0078] The missing data processing is performed on the target space coordinates respectively, including: determining the time difference between adjacent target space coordinates, and inserting supplementary coordinates between adjacent target space coordinates whose time difference is greater than a threshold.
[0079] The target space coordinates are respectively subjected to error data processing, including: determining the Mahalanobis distance between adjacent target space coordinates, deleting the adjacent target space coordinates in response to the Mahalanobis distance being greater than a distance threshold, and inserting a replacement coordinate.
[0080] Corresponding to the map generation methods provided in the above-mentioned embodiments, an embodiment of the present disclosure further provides a map generation device. Since the map generation device provided in the embodiment of the present disclosure corresponds to the map generation methods provided in the above-mentioned embodiments, the implementation methods of the above-mentioned map generation methods are also applicable to the map generation device provided in the embodiment of the present disclosure and will not be described in detail in the following embodiments.
[0081] Figure 5 is a schematic diagram of a map generating device according to an embodiment of the present disclosure. Figure 5 As shown, the map generating device 500 includes: an acquisition module 510 , a determination module 520 , a conversion module 530 and a generation module 540 .
[0082] Among them, the acquisition module 510 is used to obtain candidate battery-swap mining trucks operating in the target mine, and obtain the driving routes corresponding to the candidate battery-swap mining trucks.
[0083] The determination module 520 is used to determine a target battery-swapping mining truck from candidate battery-swapping mining trucks based on a driving route.
[0084] The conversion module 530 is used to collect the trajectory coordinates of the target battery-swapping mining truck and convert the trajectory coordinates into target space coordinates.
[0085] The generation module 540 is used to generate a target map of the target mine based on the target spatial coordinates.
[0086] In one embodiment of the present disclosure, the determination module 520 is also used to: calculate the route similarity of any two candidate battery-swap mine trucks based on the driving routes; classify two candidate battery-swap mine trucks whose similarity is greater than a similarity threshold into the same cluster; for any cluster, select the candidate battery-swap mine truck with the longest driving route as the target battery-swap mine truck.
[0087] In one embodiment of the present disclosure, in response to a target battery-swapping mine truck failing, a candidate battery-swapping mine truck having the greatest route similarity to the failed target battery-swapping mine truck is selected from the cluster corresponding to the target battery-swapping mine truck as the new target battery-swapping mine truck.
[0088] In one embodiment of the present disclosure, the conversion module 530 is further used to: obtain translation parameters, rotation parameters and scale parameters; and determine the target space coordinates based on the translation parameters, rotation parameters, scale parameters and trajectory coordinates.
[0089] In one embodiment of the present disclosure, based on the translation parameter, rotation parameter, scale parameter and trajectory coordinates, the calculation formula for determining the target space coordinates is:
[0090] Among them, X2, Y2, and Z2 are the X-axis coordinates, Y-axis coordinates, and Z-axis coordinates of the target space coordinates, respectively; X1, Y1, and Z1 are the X-axis coordinates, Y-axis coordinates, and Z-axis coordinates of the trajectory coordinates, respectively; K is the scale parameter, and r x 、r y and r z are the X-axis scale parameter, Y-axis scale parameter and Z-axis scale parameter of the trajectory coordinates, respectively; dX, dY and dZ are the X-axis translation parameter, Y-axis translation parameter and Z-axis translation parameter of the trajectory coordinates, respectively.
[0091] In one embodiment of the present disclosure, the generation module 540 is further used to: splice the target spatial coordinates to generate multiple candidate routes; compare the candidate routes with the historical map routes; in response to the absence of candidate routes in the historical routes, update the candidate routes to the historical map to generate a target map; or, in response to the absence of historical routes in the candidate routes, eliminate the historical routes in the historical map to generate a target map.
[0092] In one embodiment of the present disclosure, the generation module 540 is also used to: perform missing data processing and erroneous data processing on the target space coordinates respectively; perform missing data processing on the target space coordinates respectively, including: determining the time difference between adjacent target space coordinates, and inserting supplementary coordinates between adjacent target space coordinates whose time difference is greater than a threshold; perform erroneous data processing on the target space coordinates respectively, including: determining the Mahalanobis distance between adjacent target space coordinates, and in response to the Mahalanobis distance being greater than the distance threshold, deleting the adjacent target space coordinates and inserting replacement coordinates.
[0093] Therefore, by collecting data on candidate battery-swap mining trucks operating in the target mine, there is no need to arrange separate vehicles for data collection, which can reduce the cost of data collection. At the same time, data collection through operating vehicles can provide more realistic data, and the trajectory coordinates can be converted into target space coordinates in a unified coordinate system, so that a more accurate target map of the target mine can be generated.
[0094] In order to implement the above embodiment, the present disclosure further provides an electronic device 600, Figure 6 is a schematic diagram of an electronic device according to an embodiment of the present disclosure, such as Figure 6 As shown, the electronic device 600 includes: a processor 601 and a memory 602 that is communicatively connected to the processor, the memory 602 stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor 601 to implement the present disclosure. Figure 1-Figure 3 A map generating method according to an embodiment.
[0095] In order to implement the above embodiments, the present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to implement the above embodiments. Figure 1-Figure 3 A map generating method according to an embodiment.
[0096] In order to implement the above embodiments, the present disclosure also provides a computer program product, including a computer program. When the computer program is executed by a processor, the computer program implements the above embodiments. Figure 1-Figure 3 A map generating method according to an embodiment.
[0097] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.
[0098] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.
[0099] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. 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 disclosure. In this specification, the schematic representations of the above terms do 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. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.
[0100] Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.
Claims
1. A map generation method, characterized in that: include: Obtain candidate battery-swapping mining trucks operating in a target mine, and obtain driving routes corresponding to the candidate battery-swapping mining trucks; Determine a target battery-swapping mining truck from the candidate battery-swapping mining trucks based on the driving route; Collecting the trajectory coordinates of the target battery-swapping mining truck and converting the trajectory coordinates into target space coordinates; Based on the target spatial coordinates, a target map of the target mine is generated.
2. The method according to claim 1, characterized in that The determining a target battery-swapping mining truck from the candidate battery-swapping mining trucks based on the driving route includes: Based on the driving route, calculating the route similarity of any two candidate battery-swapping mining trucks; The two candidate battery-swap mining trucks with similarity greater than the similarity threshold are divided into the same cluster; For any cluster, the candidate battery-swapping mining truck with the longest driving route is selected as the target battery-swapping mining truck.
3. The method according to claim 2, characterized in that The method further comprises: In response to a failure of the target battery-swapping mining truck, a candidate battery-swapping mining truck having the greatest route similarity to the failed target battery-swapping mining truck is selected from the cluster corresponding to the target battery-swapping mining truck as a new target battery-swapping mining truck.
4. The method according to claim 1, characterized in that: The collecting the track coordinates of the target battery-swapping mining truck and converting the track coordinates into target space coordinates includes: Get translation parameters, rotation parameters and scale parameters; The target space coordinates are determined based on the translation parameter, the rotation parameter, the scale parameter and the trajectory coordinates.
5. The method according to claim 4, characterized in that The calculation formula for determining the target space coordinates based on the translation parameter, the rotation parameter, the scale parameter and the trajectory coordinates is: Among them, X2, Y2, and Z2 are the X-axis coordinates, Y-axis coordinates, and Z-axis coordinates of the target space coordinates, respectively; X1, Y1, and Z1 are the X-axis coordinates, Y-axis coordinates, and Z-axis coordinates of the trajectory coordinates, respectively; K is the scale parameter, and r x 、r y and r z are respectively the X-axis scale parameter, Y-axis scale parameter and Z-axis scale parameter of the trajectory coordinates, and dX, dY, and dZ are respectively the X-axis translation parameter, Y-axis translation parameter and Z-axis translation parameter of the trajectory coordinates.
6. The method according to claim 5, characterized in that The generating a target map of the target mine based on the target spatial coordinates further includes: splicing the target spatial coordinates to generate multiple candidate routes; comparing the candidate route to historical map routes; In response to the candidate route not existing in the historical routes, updating the candidate route into the historical map to generate a target map; or, In response to the historical route not existing in the candidate routes, the historical route in the historical map is eliminated to generate the target map.
7. The method according to claim 6, characterized in that Before the target space coordinates are spliced, the method further includes: Performing missing data processing and erroneous data processing on the target space coordinates respectively; The target space coordinates are respectively processed for missing data, including: Determine a time difference between adjacent target space coordinates, and insert a supplementary coordinate between adjacent target space coordinates whose time difference is greater than a threshold; The target space coordinates are respectively subjected to error data processing, including: The Mahalanobis distances of adjacent target space coordinates are determined, and in response to the Mahalanobis distance being greater than a distance threshold, the adjacent target space coordinates are deleted and a replacement coordinate is inserted.
8. A map generating device, characterized in that: include: An acquisition module, used to acquire candidate battery-swapping mining trucks operating in a target mine, and to acquire a driving route corresponding to the candidate battery-swapping mining trucks; A determination module, configured to determine a target battery-swapping mining truck from the candidate battery-swapping mining trucks based on the driving route; A conversion module, used for collecting the trajectory coordinates of the target battery-swapping mining truck and converting the trajectory coordinates into target space coordinates; A generating module is used to generate a target map of the target mine based on the target space coordinates.
9. An electronic device, characterized in that: Including memory and processor; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.