Terrain model updating method and device, equipment and storage medium

Abstract

The invention provides a terrain model updating method and device, equipment and a storage medium, which can be applied to the unmanned driving field, the intelligent auxiliary driving field and the mine monitoring and management field. The method comprises the steps that in response to a terrain updating instruction, a carrying task track of at least one carrier in an operation environment is acquired, and the terrain updating instruction indicates a terrain model slice to be updated in an operation environment terrain model; in response to the fact that the position relation between the target terrain model slice and the carrying task track meets a preset position relation condition, a target carrier is determined from at least one carrier, and the terrain model slice comprises the target terrain model slice; a terrain detection message is sent to the target carrier, the terrain detection message indicates that the target carrier executes a terrain detection task at a target driving position corresponding to the target terrain model slice, and a target area point cloud is obtained; and updating the working environment terrain model according to the target area point cloud to obtain a target working environment terrain model.

Description

Technical Field

[0001] The present disclosure relates to the fields of unmanned driving, intelligent assisted driving and mine monitoring and management, and more specifically, to a terrain model updating method, device, equipment and storage medium. Background Art

[0002] Open-pit mines have frequent terrain changes due to mining and transportation operations. The planning and scheduling of production operations in mining areas requires timely detection of terrain changes. With the gradual implementation of autonomous driving technology in open-pit mines, mining area terrain data is used for high-precision mapping, global planning, decision-making and control, and other links. The real-time requirements for terrain updates are getting higher and higher. At present, the main methods of terrain production and updating include drone mapping and collection vehicle mapping. Drone mapping is not real-time enough and is greatly affected by weather and lacks stability. Collection vehicles are small in number and have many tasks, so they cannot be frequently scheduled for collection, and the real-time update of terrain cannot be guaranteed. Summary of the invention

[0003] In view of this, the present disclosure provides a terrain model updating method, apparatus, device and storage medium.

[0004] According to a first aspect of the present disclosure, a terrain model updating method is provided, comprising:

[0005] In response to the terrain update instruction, obtaining a transport task trajectory of at least one vehicle in the working environment, wherein the transport task trajectory indicates a driving position that the vehicle should pass through to perform the transport task, and the terrain update instruction indicates a terrain model slice to be updated in the terrain model of the working environment;

[0006] In response to a positional relationship between a target terrain model slice and a transport mission trajectory satisfying a preset positional relationship condition, determining a target vehicle from at least one vehicle, the terrain model slice including the target terrain model slice;

[0007] Sending a terrain detection message to the target vehicle, the terrain detection message instructing the target vehicle to perform a terrain detection task at a target driving position corresponding to the target terrain model slice to obtain a point cloud of the target area; and

[0008] The operating environment terrain model is updated according to the target area point cloud to obtain the target operating environment terrain model.

[0009] Another aspect of the present disclosure provides a terrain model updating device, comprising:

[0010] an acquisition module, configured to acquire a transport task trajectory of at least one vehicle in the operating environment in response to a terrain update instruction, wherein the transport task trajectory indicates a driving position that the vehicle should pass through to perform the transport task, and the terrain update instruction indicates a terrain model slice to be updated in the terrain model of the operating environment;

[0011] A first determination module is configured to determine a target vehicle from at least one vehicle in response to a positional relationship between a target terrain model slice and a transport mission trajectory satisfying a preset positional relationship condition, wherein the terrain model slice includes a target terrain model slice;

[0012] A sending module is used to send a terrain detection message to a target vehicle, wherein the terrain detection message instructs the target vehicle to perform a terrain detection task at a target driving position corresponding to a target terrain model slice to obtain a point cloud of a target area;

[0013] The updating module is used to update the terrain model of the operating environment according to the point cloud of the target area to obtain the terrain model of the target operating environment.

[0014] Another aspect of the present disclosure provides an electronic device, comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors execute the terrain model updating method.

[0015] Another aspect of the present disclosure provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, causes the processor to perform the terrain model updating method described above.

[0016] According to an embodiment of the present disclosure, a target vehicle that can satisfy a preset position relationship with a terrain model slice to be updated is determined according to the vehicle's transport mission trajectory, and a terrain detection message is sent to control the target vehicle to perform terrain detection on the terrain area corresponding to the terrain model slice to be updated during the execution of the transport mission, so as to realize the parallel execution of the transport mission and the terrain detection mission, improve the flexibility and timeliness of detection for the working environment, and update the terrain model of the working environment through the target area point cloud, so that the obtained target working environment terrain model can characterize the changes in terrain status in working environments such as mines in real time, reduce the time required for terrain model updating, and then control the autonomous driving vehicle to perform the working mission according to the target working environment terrain model, which can improve working efficiency and working safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0018] Figure 1 A diagram showing an application scenario of a terrain model updating method and device according to an embodiment of the present disclosure;

[0019] Figure 2 A flowchart of a terrain model updating method according to an embodiment of the present disclosure is shown;

[0020] Figure 3A A schematic diagram showing a first position relationship condition according to an embodiment of the present disclosure is shown.

[0021] Figure 3B A schematic diagram showing a second position relationship condition according to an embodiment of the present disclosure;

[0022] Figure 4 A schematic diagram showing a target vehicle determination method according to an embodiment of the present disclosure is shown;

[0023] Figure 5 A schematic diagram showing a method for determining a terrain detection message according to an embodiment of the present disclosure is shown;

[0024] Figure 6 A structural block diagram of a terrain model updating device according to an embodiment of the present disclosure is shown; and

[0025] Figure 7 A block diagram of an electronic device suitable for implementing a terrain model updating method according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0026] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0027] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0028] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0029] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0030] In the technical solution of the present disclosure, the user information (including but not limited to user personal information, user image information, user device information, such as location information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved are all information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data comply with the relevant laws, regulations and standards of the relevant countries and regions, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0031] Due to the frequent changes in terrain caused by mining and transportation operations in open-pit mines, the planning and scheduling of production operations in the mining area requires timely detection of terrain changes. With the gradual implementation of autonomous driving technology in open-pit mines, the terrain data of the mining area is used for high-precision mapping, global planning, decision-making and control, and the real-time requirements for terrain updates are getting higher and higher. At present, the main methods of terrain production and updating include drone mapping and collection vehicle mapping. Both drone mapping and collection vehicle mapping require the participation of operators, planning of collection areas and manual operation, which are costly and inefficient. Drone mapping is not real-time enough and is greatly affected by weather and lacks stability. Collection vehicles are small in number and have many tasks, so they cannot be frequently scheduled for collection, and the real-time update of terrain cannot be guaranteed. At the same time, the presence of operators at the open-pit mine autonomous driving site affects production efficiency and poses safety hazards. The terrain at the operation site is updated frequently, especially in the loading area, which is updated at the minute level. The update delay of drones and the collection area restrictions of collection vehicles lead to insufficient data validity for terrain updates.

[0032] The embodiments of the present disclosure provide a terrain model updating method, device, equipment and storage medium. The method includes: in response to a terrain update instruction, obtaining a transport mission trajectory of at least one vehicle in an operating environment, wherein the transport mission trajectory indicates a driving position that the vehicle should pass through to perform the transport mission, and the terrain update instruction indicates a terrain model slice to be updated in the terrain model of the operating environment; in response to the positional relationship between the target terrain model slice and the transport mission trajectory satisfying a preset positional relationship condition, determining a target vehicle from at least one vehicle, the terrain model slice including a target terrain model slice; sending a terrain detection message to the target vehicle, the terrain detection message indicating that the target vehicle performs a terrain detection task at a target driving position corresponding to the target terrain model slice, and obtaining a target area point cloud; updating the terrain model of the operating environment according to the target area point cloud, and obtaining a target operating environment terrain model.

[0033] Figure 1 A diagram showing an application scenario of a terrain model updating method and device according to an embodiment of the present disclosure is shown.

[0034] like Figure 1 As shown, the application scenario 100 according to this embodiment may include vehicles 101, 102, 103, a network 104 and a server 105. The network 104 is used to provide a medium for a communication link between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired, wireless communication links or optical fiber cables, etc.

[0035] The user can use the vehicles 101, 102, 103 to interact with the server 105 through the network 104 to receive or send messages, etc. The vehicles 101, 102, 103 may be unmanned vehicles, or may also include vehicles driven by driver users.

[0036] Vehicles 101 , 102 , 103 may be any type of vehicle, such as a truck, a car, etc.

[0037] The server 105 may be a server that provides various services, such as a server that provides background management for the motion status and operation status of the vehicles 101, 102, and 103 used by the user (for example only). The background management server may analyze and process the broadcast messages and other data received from the vehicles, and feed back the processing results to any vehicle.

[0038] It should be noted that the terrain model updating method provided in the embodiment of the present disclosure can generally be executed by the server 105. Accordingly, the terrain model updating device provided in the embodiment of the present disclosure can generally be set in the server 105. The terrain model updating method provided in the embodiment of the present disclosure can also be executed by a server or server cluster that is different from the server 105 and can communicate with the vehicles 101, 102, 103 and / or the server 105. Accordingly, the terrain model updating device provided in the embodiment of the present disclosure can also be set in a server or server cluster that is different from the server 105 and can communicate with the vehicles 101, 102, 103 and / or the server 105.

[0039] It should be understood that Figure 1 The number of vehicles, networks, and servers in the embodiment is only for illustration purposes. Any number of vehicles, networks, and servers may be provided as required.

[0040] The following will be based on Figure 1 The scene described by Figure 2~Figure 5 The terrain model updating method of the disclosed embodiment is described in detail.

[0041] Figure 2 A flowchart of a terrain model updating method according to an embodiment of the present disclosure is shown.

[0042] like Figure 2 As shown, the method includes operations S210 to S240.

[0043] In operation S210, in response to a terrain update instruction, a transport mission trajectory of at least one vehicle in a working environment is obtained.

[0044] In operation S220, in response to a positional relationship between the target terrain model slice and the transport mission trajectory satisfying a preset positional relationship condition, a target vehicle is determined from at least one vehicle.

[0045] According to an embodiment of the present disclosure, the terrain model slice includes a target terrain model slice. The target terrain model slice may be a terrain model slice to be updated, and the terrain update instruction may be used to instruct to update the target terrain model slice.

[0046] In operation S230, a terrain detection message is sent to the target vehicle.

[0047] According to an embodiment of the present disclosure, the terrain detection message instructs the target vehicle to perform a terrain detection task at a target driving position corresponding to a target terrain model slice to obtain a point cloud of the target area.

[0048] In operation S240 , the terrain model of the operating environment is updated according to the point cloud of the target area to obtain a terrain model of the target operating environment.

[0049] According to the embodiments of the present disclosure, the transport mission trajectory indicates the driving position that the vehicle should pass through to perform the transport mission, and the terrain update instruction indicates the terrain model slice to be updated in the terrain model of the operating environment. The operating environment may include an operating area related to any type of operation, such as a mineral mining area, a mineral loading area, a cargo logistics area, etc. The embodiments of the present disclosure do not limit the specific type of operation related to the operating environment.

[0050] According to an embodiment of the present disclosure, the acquisition of the transport task trajectory can be generated based on the scheduling task issued by the server. In response to the terrain update instruction, the transport task trajectory of at least one vehicle in the working environment can be acquired. The vehicle can be a vehicle used to perform the operation, such as a container truck, a mining car, an excavator, etc. The embodiment of the present disclosure does not limit the specific type of the vehicle.

[0051] According to the embodiments of the present disclosure, terrain model slicing is to organize and manage the terrain of the mining area based on grid-based slicing. Each terrain model slice corresponds to a certain area of ​​the map, for example, a loading area, a spoil dump, a road, etc. The embodiments of the present disclosure do not limit the map element type of the terrain model slice. The terrain model slice may include a target terrain model slice. In response to the positional relationship between the target terrain area corresponding to the target terrain model slice and the transport mission trajectory satisfying a preset positional relationship condition, the target vehicle can be determined from at least one vehicle. The preset positional relationship condition may include that the transport mission trajectory passes through the target terrain area or that the transport mission trajectory is a preset distance from the boundary of the target terrain area, etc., but is not limited thereto. The embodiments of the present disclosure do not limit the specific positional conditions of the preset positional relationship conditions.

[0052] According to an embodiment of the present disclosure, a terrain detection message may be sent to a target vehicle. The terrain detection message may instruct the target vehicle to perform a terrain detection task at a target driving position corresponding to a target terrain model slice to obtain a target area point cloud. A terrain detection task may be sent to a corresponding vehicle through a communication system, and the vehicle may enable the laser radar carried by the vehicle to scan the terrain between the specified collection start and end points to generate a target area point cloud. The target area point cloud may include position coordinate data and timestamp data.

[0053] According to an embodiment of the present disclosure, the target vehicle can upload the point cloud of the target area to the cloud server. During the uploading process, the integrity and accuracy of the data must be guaranteed. The cloud server can perform data quality verification on the point cloud of the target area, and update the operating environment terrain model based on terrain model reconstruction algorithms such as point cloud preprocessing, semantic segmentation, and raster resampling to obtain the target operating environment terrain model.

[0054] According to an embodiment of the present disclosure, a target vehicle that can satisfy a preset position relationship with a terrain model slice to be updated is determined according to the vehicle's transport mission trajectory, and a terrain detection message is sent to control the target vehicle to perform terrain detection on the terrain area corresponding to the terrain model slice to be updated during the execution of the transport mission, so as to realize the parallel execution of the transport mission and the terrain detection mission, improve the flexibility and timeliness of detection for the working environment, and update the terrain model of the working environment through the target area point cloud, so that the obtained target working environment terrain model can characterize the changes in terrain status in working environments such as mines in real time, reduce the time required for terrain model updating, and then control the autonomous driving vehicle to perform the working mission according to the target working environment terrain model, which can improve working efficiency and working safety.

[0055] According to an embodiment of the present disclosure, the preset position relationship condition includes any one of the following position relationship conditions: a first position relationship condition and a second position relationship condition.

[0056] The first position relationship condition indicates that the transport mission trajectory and the terrain area corresponding to the target terrain model slice at least partially overlap, for example, at least one trajectory point of the transport mission trajectory is located in the terrain area corresponding to the target terrain model slice.

[0057] The second position relationship condition indicates that the transport mission trajectory and the terrain area corresponding to the target terrain model slice do not overlap, and the distance between the specified driving position of the transport mission trajectory and the boundary of the target terrain area meets the specified distance condition.

[0058] According to an embodiment of the present disclosure, the second position relationship condition may indicate that the transport mission trajectory does not pass through the terrain area corresponding to the target terrain model slice, and the distance between the specified driving position of the transport mission trajectory and the boundary of the target terrain area satisfies the specified distance condition.

[0059] According to an embodiment of the present disclosure, a vehicle that meets a preset position relationship condition may be determined as a target vehicle.

[0060] Figure 3A A schematic diagram showing a first position relationship condition according to an embodiment of the present disclosure is shown.

[0061] Figure 3B A schematic diagram showing a second positional relationship condition according to an embodiment of the present disclosure is shown.

[0062] like Figure 3AAs shown, in the application scenario 301, in response to the terrain update instruction, the transport mission track 331 of the vehicle 321 in the working environment is obtained. The terrain update instruction indicates the terrain model slice to be updated in the terrain model of the working environment, and the terrain area corresponding to the terrain model slice is A311. The vehicle 321 travels along the transport mission track 331 and passes through the terrain area A311 corresponding to the target terrain model slice. The positional relationship between the terrain area A311 corresponding to the target terrain model slice and the transport mission track 331 meets the first positional relationship condition, and the vehicle 321 is determined as the target vehicle.

[0063] like Figure 3B As shown, in the application scenario 302, in response to the terrain update instruction, the transport mission track 332 of the vehicle 322 in the working environment is obtained, and the terrain update instruction indicates the terrain model slice to be updated in the terrain model of the working environment, and the terrain area A312 corresponding to the terrain model slice. The vehicle 322 travels along the transport mission track 332, and the distance D341 between the specified driving position T331 of the transport mission track 332 and the boundary of the target terrain area A312 meets the specified distance condition, that is, the positional relationship between the terrain area A312 corresponding to the target terrain model slice and the transport mission track 332 meets the second positional relationship condition, and the vehicle 322 is determined as the target vehicle.

[0064] According to the embodiments of the present disclosure, by setting preset position relationship conditions, the correlation between the transport mission trajectory and the target terrain model slice can be ensured, resource allocation can be optimized, terrain areas that coincide with or are close to the transport mission trajectory can be updated first, terrain detection tasks can be processed and responded to more intelligently, and the response speed can be improved. In addition, by setting preset position relationship conditions, unnecessary data processing can be reduced, and the consumption of computing resources can be reduced.

[0065] According to an embodiment of the present disclosure, the vehicles include multiple vehicles; in response to the positional relationship between the target terrain model slice and the transport mission trajectory satisfying a preset positional relationship condition, determining the target vehicle from at least one vehicle includes: in response to the positional relationship between the target terrain model slice and the candidate transport mission trajectories of multiple candidate vehicles respectively satisfying the preset positional relationship condition, determining the candidate driving time for the candidate vehicle to travel to the specified location based on the associated candidate transport mission trajectory, wherein the multiple vehicles include multiple candidate vehicles, and the specified location and the terrain area satisfy the preset positional relationship condition; based on the multiple candidate driving times, determining the target vehicle from the multiple candidate vehicles.

[0066] According to an embodiment of the present disclosure, the vehicles that meet the preset position relationship condition may include multiple vehicles. The multiple vehicles may include multiple candidate vehicles, and the preset position relationship condition is met between the designated position and the terrain area.

[0067] According to an embodiment of the present disclosure, in response to the positional relationship between the terrain area corresponding to the target terrain model slice and the candidate transport mission trajectories of multiple candidate vehicles satisfying a preset positional relationship condition, the candidate driving time for the candidate vehicle to travel to the specified location based on the associated candidate transport mission trajectory can be determined.

[0068] According to an embodiment of the present disclosure, based on multiple candidate driving times, the candidate vehicle with the shortest candidate driving time can be selected as the target vehicle. In another embodiment, the candidate vehicle closest to the terrain area corresponding to the target terrain model slice can be selected as the target vehicle.

[0069] Figure 4 A schematic diagram of a target vehicle determination method according to an embodiment of the present disclosure is shown.

[0070] like Figure 4 As shown, the application scenario 400 may include a terrain area A410 corresponding to the target terrain model slice, a designated position T440, and multiple vehicles. In response to the positional relationship between the terrain area A410 corresponding to the target terrain model slice and the transport mission trajectory satisfying a preset positional relationship condition, for example, the positional relationship between the transport mission trajectory 431 corresponding to the vehicle 421 and the terrain area A410 corresponding to the target terrain model slice satisfies the first positional relationship condition, the vehicle 421 may be determined as the candidate vehicle 421. The positional relationship between the transport mission trajectory 432 corresponding to the vehicle 422 and the target terrain model slice satisfies the first positional relationship, and the vehicle 422 may be determined as the candidate vehicle 422. The candidate driving durations of the candidate mission trajectories of the candidate vehicles 421 and 422 to the designated position T440 are determined respectively. According to the candidate driving durations corresponding to the candidate vehicles 421 and 422 respectively, it is determined that the candidate driving duration of the candidate vehicle 421 is shorter, and the candidate vehicle 421 may be determined as the target vehicle.

[0071] According to the embodiments of the present disclosure, by analyzing the positional relationship between the target terrain model slice and the candidate transport task trajectories of multiple candidate vehicles, it is possible to accurately determine which vehicles are most suitable for performing terrain detection tasks, thereby improving the accuracy and efficiency of task allocation. By selecting the best vehicle to perform the task, it is possible to ensure that resources are used most effectively and avoid unnecessary waste. By considering the candidate driving time and positional relationship of the vehicle, the flexibility of the system can be improved and the processing efficiency of terrain acquisition tasks can be improved.

[0072] According to an embodiment of the present disclosure, the terrain model slices include multiple terrain model slices, and the multiple terrain model slices are arranged according to their respective priorities, and the target carrying mission trajectory of the target vehicle and the first target terrain model slice with the highest priority meet the preset position relationship condition; wherein, the terrain detection message is determined based on the following operations: the position relationship between the target carrying mission trajectory and the candidate terrain area corresponding to the candidate terrain model slice is judged to obtain a judgment result, wherein the candidate terrain model slice is other terrain model slices except the first target terrain model slice among the multiple terrain model slices; in response to the judgment result characterizing the position relationship between the target carrying mission trajectory and the second target terrain model slice in the candidate terrain model slice, the preset position relationship condition is met, and a second target driving position corresponding to the second target terrain model slice is determined from the target carrying mission trajectory, wherein the target driving position includes the second target driving position and the first target driving position corresponding to the first target terrain model slice; based on the target driving position, the terrain detection message is determined.

[0073] According to an embodiment of the present disclosure, the terrain model slices may include multiple, and the multiple terrain model slices may form a queue according to priority. When the target vehicle and the first terrain model slice with the highest priority meet the preset position relationship condition, multiple updateable second target terrain model slices are allocated to the target vehicle.

[0074] According to an embodiment of the present disclosure, a positional relationship judgment can be performed on the target transport mission trajectory and the candidate terrain area corresponding to the candidate terrain model slice to obtain a judgment result. When the judgment result represents the positional relationship between the target transport mission trajectory and the second target terrain model slice in the candidate terrain model slice, and when the preset positional relationship condition is met, the second target driving position corresponding to the second target terrain model slice is determined from the target transport mission trajectory. The target driving position may include multiple second target driving positions, and multiple first target driving positions corresponding to the first target terrain model slice, and the terrain detection message may be determined based on the target driving position.

[0075] Figure 5 A schematic diagram of a terrain detection message determination method according to an embodiment of the present disclosure is shown.

[0076] like Figure 5As shown, the application scenario 500 may include a vehicle 521, multiple terrain areas corresponding to multiple terrain model slices, and multiple target driving positions. The terrain areas corresponding to the multiple terrain model slices may include terrain areas A510, A511, A512, and A513. The priority of terrain area A511 is greater than that of terrain area A510, the priority of terrain area A510 is greater than that of terrain area A513, and the priority of terrain area A5130 is greater than that of terrain area A513. The target transport mission trajectory 530 of the vehicle 521 satisfies the first position relationship condition with the terrain area A511 corresponding to the first target terrain model slice with the highest priority. The position relationship of the target transport mission trajectory 530 and the candidate terrain areas A510, A512, and A513 is judged respectively. It can be seen that only the position relationship between the candidate terrain area A510 and the target transport mission trajectory 530 satisfies the preset position relationship. Therefore, the terrain model slice corresponding to the candidate terrain area A510 can be used as the second target terrain model slice. When the vehicle 521 travels to the first target driving position 541, it can perform the terrain detection task for the terrain area A511. When it travels to the second target driving position 542, it can perform the terrain detection task for the terrain area A510. The terrain detection message can be determined based on the first target driving position 541 and the second target driving position 542.

[0077] According to the embodiments of the present disclosure, by arranging the terrain model slices according to priority, it can be ensured that the most important terrain areas are updated and processed first, and the high-priority terrain model slices are processed first so that the obtained limited resources can be allocated and utilized most effectively. By judging the positional relationship between the candidate terrain model slices and the target transport task trajectory, it can be ensured that only vehicles that meet the preset positional relationship conditions are selected, thereby improving the accuracy and reliability of the collected data, and by determining the target driving position, the server can more effectively plan and execute terrain detection tasks, thereby improving the overall task execution efficiency.

[0078] According to an embodiment of the present disclosure, determining a terrain detection message based on a target driving position includes: determining a control instruction that matches a target terrain area based on the target driving position, wherein the target terrain area corresponds to the target driving position, and the control instruction is used to control a target vehicle that travels to the target driving position to perform a terrain detection task; determining a terrain detection message based on control instructions corresponding to multiple target driving positions.

[0079] According to an embodiment of the present disclosure, the target driving position may include one driving position, or may include multiple continuous or intermittent driving positions. The target vehicle may control sensors to perform terrain detection at multiple target driving positions to obtain a terrain point cloud.

[0080] According to an embodiment of the present disclosure, based on the target driving position, a control instruction adapted to the target terrain area can be determined, and the control instruction can be used to control the target vehicle traveling to the target driving position to perform a terrain detection task. Based on the control instructions corresponding to multiple target driving positions, a terrain detection message is determined.

[0081] According to the embodiments of the present disclosure, by determining the control instructions that are compatible with the target terrain area, the target vehicle can be accurately controlled to travel to the specified location and perform the terrain detection task, thereby improving the accuracy and reliability of task execution. The automated control instruction generation and issuance process reduces manual intervention, improves the automation level of terrain detection tasks, and thus improves efficiency and response speed. By accurately controlling the vehicle's driving position and task execution, the vehicle can be prevented from entering dangerous or unsuitable areas for detection, improving the safety of operations, quickly determining terrain detection messages and issuing control instructions, so that the server can respond to terrain changes and detection requirements in real time, and enhance real-time monitoring and data processing capabilities.

[0082] According to an embodiment of the present disclosure, the priority of a terrain model slice is determined based on the time when the terrain model slice is to be updated, and the duration between the time when the terrain model slice is to be updated and the time when the terrain model slice is constructed is greater than or equal to the configuration freshness duration corresponding to the terrain model slice.

[0083] According to an embodiment of the present disclosure, the priority of a terrain model slice is determined based on the time to be updated of the terrain model slice, and the time to be updated may indicate the time when the validity period of the terrain model slice expires. The construction time may indicate the time when the terrain model slice is generated, and the configuration freshness duration may indicate the validity period set for the terrain model slice. The terrain model slice may maintain validity during the configuration freshness duration, and after exceeding the configuration freshness duration, it indicates that the terrain model slice needs to be updated, thereby generating a terrain update instruction.

[0084] According to the embodiments of the present disclosure, corresponding freshness requirement parameters can be set for different terrain model slices based on the requirements of different map element types for real-time terrain updates. For example, the loading area can be set to be updated once every hour, the spoil dump can be set to be updated once every two hours, and the road can be set to be updated once every six hours. The freshness expiration time of all terrain model slices can be monitored to determine the priority of the terrain model slices. The duration between the time to be updated and the construction time of the terrain model slice is greater than or equal to the configuration freshness duration corresponding to the terrain model slice.

[0085] According to an embodiment of the present disclosure, it is possible to determine whether a vehicle can pass through the area to be updated based on the time to be updated and the time to be built. If the vehicle passes through the area to be updated, the terrain area corresponding to the high-priority terrain model slice can be selected to generate a terrain detection task. The terrain detection task can include collecting the starting point and end point of the terrain.

[0086] According to the embodiments of the present disclosure, through intelligent scheduling and real-time data collection, dynamic real-time updating of open-pit mine terrain is achieved, the timeliness of terrain data is guaranteed, and the freshness of terrain updates is guaranteed, and updates can be achieved at the hourly or even minute level.

[0087] According to an embodiment of the present disclosure, updating the terrain model of the working environment according to the point cloud of the target area to obtain the target terrain model of the working environment includes: reconstructing the terrain based on the point cloud of the target area to obtain target terrain model slices; updating the terrain model slices to be updated based on the target terrain model slices to obtain the target working environment terrain model.

[0088] According to the embodiments of the present disclosure, the terrain of the target area can be reconstructed based on the point cloud of the target area to obtain target terrain model slices, and the terrain model slices to be updated are updated based on the target terrain model slices, thereby obtaining the target working environment terrain model.

[0089] According to the embodiments of the present disclosure, the target area point cloud can be used to update the background terrain database, integrate the real-time terrain with the historical terrain data in the database, use the new target area point cloud to cover the old data of the corresponding area, and display the obtained target working environment terrain model in real time to the front end for decision-making by operators.

[0090] According to the embodiments of the present disclosure, terrain data is collected by utilizing the interval time of the vehicle during regular transportation, which greatly improves the efficiency of terrain collection and updating, avoids the safety risks of manual on-site measurement, realizes unmanned measurement operations, and at the same time ensures the validity of the data by completely collecting data based on the trajectory of the transport mission.

[0091] Based on the above terrain model updating method, the present disclosure also provides a terrain model updating device. Figure 6 The device is described in detail.

[0092] Figure 6 A structural block diagram of a terrain model updating device according to an embodiment of the present disclosure is shown.

[0093] like Figure 6 As shown, the terrain model updating device 600 of this embodiment includes an acquisition module 610 , a first determination module 620 , a sending module 630 and an updating module 640 .

[0094] The acquisition module 610 is used to obtain the transport mission trajectory of at least one vehicle in the working environment in response to the terrain update instruction, wherein the transport mission trajectory indicates the driving position that the vehicle should pass through to perform the transport mission, and the terrain update instruction indicates the terrain model slice to be updated in the terrain model of the working environment.

[0095] The first determination module 620 is used to determine a target vehicle from at least one vehicle in response to a positional relationship between a target terrain model slice and a transport mission trajectory satisfying a preset positional relationship condition, wherein the terrain model slice includes the target terrain model slice.

[0096] The sending module 630 is used to send a terrain detection message to the target vehicle, where the terrain detection message instructs the target vehicle to perform a terrain detection task at a target driving position corresponding to a target terrain model slice to obtain a point cloud of a target area.

[0097] The updating module 640 is used to update the terrain model of the operating environment according to the point cloud of the target area to obtain the terrain model of the target operating environment.

[0098] According to an embodiment of the present disclosure, a target vehicle that can satisfy a preset position relationship with a terrain model slice to be updated is determined according to the vehicle's transport mission trajectory, and a terrain detection message is sent to control the target vehicle to perform terrain detection on the terrain area corresponding to the terrain model slice to be updated during the execution of the transport mission, so as to realize the parallel execution of the transport mission and the terrain detection mission, improve the flexibility and timeliness of detection for the working environment, and update the terrain model of the working environment through the target area point cloud, so that the obtained target working environment terrain model can characterize the changes in terrain status in working environments such as mines in real time, reduce the time required for terrain model updating, and then control the autonomous driving vehicle to perform the working mission according to the target working environment terrain model, which can improve working efficiency and working safety.

[0099] According to an embodiment of the present disclosure, the first position relationship condition indicates that the transport mission trajectory and the terrain area corresponding to the target terrain model slice at least partially overlap. The second position relationship condition indicates that the transport mission trajectory and the terrain area corresponding to the target terrain model slice do not overlap, and the distance between the specified driving position of the transport mission trajectory and the boundary of the target terrain area meets the specified distance condition.

[0100] According to an embodiment of the present disclosure, the carrier includes a plurality of carriers.

[0101] According to an embodiment of the present disclosure, the first determination module includes: a candidate driving duration determination unit and a target vehicle determination unit.

[0102] A candidate driving duration determination unit is used to determine the candidate driving duration for a candidate vehicle to travel to a designated location based on the associated candidate transport mission trajectory in response to the positional relationship between a target terrain model slice and each of the candidate transport mission trajectories of a plurality of candidate vehicles satisfying a preset positional relationship condition, wherein the plurality of vehicles includes a plurality of candidate vehicles and the designated location satisfies the preset positional relationship condition with the terrain area.

[0103] The target vehicle determination unit is used to determine a target vehicle from a plurality of candidate vehicles based on a plurality of candidate driving times.

[0104] According to an embodiment of the present disclosure, the terrain model slices include multiple terrain model slices, which are arranged according to their respective priorities, and the target transport mission trajectory of the target vehicle and the first target terrain model slice with the highest priority meet a preset position relationship condition.

[0105] According to an embodiment of the present disclosure, the sending module includes: a judgment result obtaining unit, a second target driving position determining unit and a terrain detection message determining unit.

[0106] The judgment result obtaining unit is used to judge the position relationship between the target transport mission trajectory and the candidate terrain area corresponding to the candidate terrain model slice to obtain a judgment result, wherein the candidate terrain model slice is other terrain model slices among multiple terrain model slices except the first target terrain model slice.

[0107] A second target driving position determination unit is used to characterize the positional relationship between the target transport mission trajectory and the second target terrain model slice in the candidate terrain model slice in response to a judgment result, and to meet a preset positional relationship condition, and to determine the second target driving position corresponding to the second target terrain model slice from the target transport mission trajectory, wherein the target driving position includes the second target driving position and the first target driving position corresponding to the first target terrain model slice.

[0108] The terrain detection message determining unit is used to determine the terrain detection message based on the target driving position.

[0109] According to an embodiment of the present disclosure, the terrain detection message determination unit includes: a control instruction determination subunit and a terrain detection message determination subunit.

[0110] The control instruction determination subunit is used to determine the control instruction adapted to the target terrain area based on the target driving position, wherein the target terrain area corresponds to the target driving position, and the control instruction is used to control the target vehicle traveling to the target driving position to perform the terrain detection task.

[0111] The terrain detection message determination subunit is used to determine the terrain detection message based on the control instructions corresponding to the multiple target driving positions.

[0112] According to an embodiment of the present disclosure, the priority of a terrain model slice is determined based on the time when the terrain model slice is to be updated, and the duration between the time when the terrain model slice is to be updated and the time when the terrain model slice is constructed is greater than or equal to the configuration freshness duration corresponding to the terrain model slice.

[0113] According to an embodiment of the present disclosure, the updating module includes: a target terrain model slice obtaining unit and a target working environment terrain model obtaining unit.

[0114] The target terrain model slice obtaining unit is used to perform terrain reconstruction based on the point cloud of the target area to obtain the target terrain model slice.

[0115] The target working environment terrain model obtaining unit is used to update the terrain model slice to be updated based on the target terrain model slice to obtain the target working environment terrain model.

[0116] According to an embodiment of the present disclosure, any multiple modules of the acquisition module 610, the first determination module 620, the sending module 630 and the update module 640 can be combined into one module for implementation, or any one of the modules can be split into multiple modules. Alternatively, at least part of the functions of one or more of these modules can be combined with at least part of the functions of other modules and implemented in one module. According to an embodiment of the present disclosure, at least one of the acquisition module 610, the first determination module 620, the sending module 630 and the update module 640 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation methods of software, hardware and firmware or in a suitable combination of any of them. Alternatively, at least one of the acquisition module 610 , the first determination module 620 , the sending module 630 and the updating module 640 may be at least partially implemented as a computer program module, and when the computer program module is executed, a corresponding function may be performed.

[0117] According to an embodiment of the present disclosure, the terrain model updating device is suitable for executing the terrain model updating method provided according to an embodiment of the present disclosure.

[0118] Figure 7 A block diagram of an electronic device suitable for implementing a terrain model updating method according to an embodiment of the present disclosure is shown.

[0119] like Figure 7 As shown, the electronic device 700 according to an embodiment of the present disclosure includes a processor 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage part 708 to a random access memory (RAM) 703. The processor 701 may include, for example, a general-purpose microprocessor (such as a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (for example, an application-specific integrated circuit (ASIC)), etc. The processor 701 may also include an onboard memory for caching purposes. The processor 701 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0120] In RAM 703, various programs and data required for the operation of electronic device 700 are stored. Processor 701, ROM 702 and RAM 703 are connected to each other via bus 704. Processor 701 performs various operations of the method flow according to the embodiment of the present disclosure by executing the program in ROM 702 and / or RAM 703. It should be noted that the program can also be stored in one or more memories other than ROM 702 and RAM 703. Processor 701 can also perform various operations of the method flow according to the embodiment of the present disclosure by executing the program stored in the one or more memories.

[0121] According to an embodiment of the present disclosure, the electronic device 700 may further include an input / output (I / O) interface 705, which is also connected to the bus 704. The electronic device 700 may further include one or more of the following components connected to the I / O interface 705: an input portion 706 including a keyboard, a mouse, etc.; an output portion 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 708 including a hard disk, etc.; and a communication portion 709 including a network interface card such as a LAN card, a modem, etc. The communication portion 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed, so that a computer program read therefrom is installed into the storage portion 708 as needed.

[0122] The present disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present disclosure is implemented.

[0123] According to an embodiment of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, it may include but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, an apparatus or a device. For example, according to an embodiment of the present disclosure, the computer-readable storage medium may include the ROM 702 and / or RAM 703 described above and / or one or more memories other than ROM 702 and RAM 703.

[0124] The embodiment of the present disclosure also includes a computer program product, which includes a computer program, and the computer program contains program code for executing the method shown in the flowchart. When the computer program product is run in a computer system, the program code is used to enable the computer system to implement the terrain model updating method provided by the embodiment of the present disclosure.

[0125] The above functions defined in the system / device of the embodiment of the present disclosure are performed when the computer program is executed by the processor 701. According to the embodiment of the present disclosure, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0126] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices, magnetic storage devices, etc. In another embodiment, the computer program may also be transmitted and distributed in the form of signals on a network medium, and downloaded and installed through the communication part 709, and / or installed from the removable medium 711. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0127] In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 709, and / or installed from the removable medium 711. When the computer program is executed by the processor 701, the above functions defined in the system of the embodiment of the present disclosure are performed. According to the embodiment of the present disclosure, the system, device, means, module, unit, etc. described above can be implemented by a computer program module.

[0128] According to an embodiment of the present disclosure, the program code for executing the computer program provided by the embodiment of the present disclosure can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level process and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, Java, C++, python, "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on the remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect through the Internet).

[0129] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0130] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways, even if such combinations and / or combinations are not explicitly described in the present disclosure. In particular, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways without departing from the spirit and teachings of the present disclosure. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0131] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A terrain model updating method, comprising: In response to the terrain update instruction, obtaining a transport mission trajectory of at least one vehicle in the working environment, wherein the transport mission trajectory indicates a driving position that the vehicle should pass through to perform the transport mission, and the terrain update instruction indicates a terrain model slice to be updated in the terrain model of the working environment; In response to a positional relationship between a target terrain model slice and the transport mission trajectory satisfying a preset positional relationship condition, determining a target vehicle from at least one of the vehicles, the terrain model slice including the target terrain model slice; Sending a terrain detection message to the target vehicle, wherein the terrain detection message instructs the target vehicle to perform a terrain detection task at a target driving position corresponding to the target terrain model slice to obtain a target area point cloud; and The operating environment terrain model is updated according to the target area point cloud to obtain a target operating environment terrain model.

2. The method according to claim 1, wherein: The preset position relationship condition includes any one of the following position relationship conditions: A first position relationship condition, indicating that the transport mission trajectory and the terrain area corresponding to the target terrain model slice at least partially overlap; The second position relationship condition indicates that the transport mission trajectory and the terrain area corresponding to the target terrain model slice do not overlap, and the distance between the specified driving position of the transport mission trajectory and the boundary of the target terrain area meets the specified distance condition.

3. The method according to claim 1 or 2, wherein: The carrier includes a plurality of; Wherein, in response to the positional relationship between the target terrain model slice and the transport mission trajectory satisfying a preset positional relationship condition, determining the target vehicle from at least one of the vehicles comprises: In response to the positional relationship between the target terrain model slice and the candidate transport mission trajectories of each of the plurality of candidate vehicles satisfying the preset positional relationship condition, determining a candidate driving time for the candidate vehicle to travel to a designated location based on the associated candidate transport mission trajectory, wherein the plurality of vehicles includes a plurality of the candidate vehicles, and the designated location satisfies the preset positional relationship condition with the terrain area; Based on the multiple candidate driving durations, the target vehicle is determined from the multiple candidate vehicles.

4. The method according to claim 1 or 2, wherein: The terrain model slices include a plurality of slices, the plurality of terrain model slices are arranged according to their respective priorities, and the target transport mission trajectory of the target vehicle and the first target terrain model slice with the highest priority meet the preset position relationship condition; The terrain detection message is determined based on the following operations: Determine the positional relationship between the target transport mission trajectory and the candidate terrain area corresponding to the candidate terrain model slice to obtain a determination result, wherein the candidate terrain model slice is other terrain model slices among the plurality of terrain model slices except the first target terrain model slice; In response to the judgment result characterizing the positional relationship between the target transport mission trajectory and a second target terrain model slice in the candidate terrain model slices, and satisfying the preset positional relationship condition, a second target driving position corresponding to the second target terrain model slice is determined from the target transport mission trajectory, wherein the target driving position includes the second target driving position and a first target driving position corresponding to the first target terrain model slice; and The terrain detection message is determined based on the target driving position.

5. The method according to claim 4, wherein: The determining the terrain detection message based on the target driving position includes: Based on the target driving position, determining a control instruction adapted to a target terrain area, wherein the target terrain area corresponds to the target driving position, and the control instruction is used to control a target vehicle traveling to the target driving position to perform a terrain detection task; The terrain detection message is determined based on control instructions corresponding to the plurality of target driving positions.

6. The method according to claim 4, wherein: The priority of the terrain model slice is determined based on the time when the terrain model slice is to be updated, and the duration between the time when the terrain model slice is to be updated and the construction time is greater than or equal to the configuration freshness duration corresponding to the terrain model slice.

7. The method according to claim 1, wherein: The updating of the working environment terrain model according to the target area point cloud to obtain the target working environment terrain model comprises: Reconstructing the terrain based on the point cloud of the target area to obtain a target terrain model slice; and The terrain model slice to be updated is updated based on the target terrain model slice to obtain the target working environment terrain model.

8. A terrain model updating device, comprising: an acquisition module, configured to acquire a transport mission trajectory of at least one vehicle in an operating environment in response to a terrain update instruction, wherein the transport mission trajectory indicates a driving position that the vehicle should pass through to perform the transport mission, and the terrain update instruction indicates a terrain model slice to be updated in a terrain model of the operating environment; A first determination module is configured to determine a target vehicle from at least one of the vehicles in response to a positional relationship between a target terrain model slice and the transport mission trajectory satisfying a preset positional relationship condition, wherein the terrain model slice includes the target terrain model slice; a sending module, configured to send a terrain detection message to the target vehicle, wherein the terrain detection message instructs the target vehicle to perform a terrain detection task at a target driving position corresponding to the target terrain model slice to obtain a target area point cloud; and An updating module is used to update the working environment terrain model according to the target area point cloud to obtain a target working environment terrain model.

9. An electronic device, comprising: one or more processors; a memory for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement the method according to any one of claims 1 to 7.

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