Map updating method, map updating server and map updating system

Abstract

The invention provides a map updating method, a map updating server and a map updating system. The map updating method comprises the steps that sensing data reported by the ith engineering vehicle in a plurality of engineering vehicles located in a loading area is received, and N is the total number of the engineering vehicles; performing fusion processing on the sensing data reported by the engineering vehicles belonging to the same type to obtain a plurality of pieces of fusion data; updating a loading area map of the loading area according to the plurality of fusion data; and sending the updated loading area map to a plurality of engineering vehicles.

Description

Technical Field

[0001] The present disclosure relates to the field of unmanned driving, and in particular to a map updating method, a map updating server, and a map updating system. Background Art

[0002] In unmanned open-pit mines, maps are a critical data foundation for automated operations. Mining environments are complex and frequently changing. Mining operations, such as the continuous advancement of mining areas, the accumulation of new materials, and the frequent movement of equipment, all cause changes in the environment within a given area. Therefore, mine maps must be updated promptly to ensure the safe and efficient operation of unmanned vehicles.

[0003] At present, the update of open-pit mine loading area maps mainly relies on additionally deployed map collection vehicles, electronic notebooks or drones and other specialized mapping equipment. Summary of the Invention

[0004] The inventors have noted that in related technologies, the update of open-pit mine loading area maps mainly relies on specialized mapping equipment such as additionally deployed map collection vehicles, electronic handbooks, or drones. The above methods require the special arrangement of vehicles and operators, and the route planning, data collection, and subsequent processing of the collection vehicles all require a lot of time and effort. In addition, such methods are difficult to fully utilize the sensor resources carried by the operating vehicles themselves, and cannot meet the needs of real-time and accurate updates of loading area maps. At the same time, traditional update methods do not formulate differentiated strategies for different vehicle operation stages, nor do they fully consider the update of obstacle areas in the loading area, resulting in low map update efficiency and insufficient accuracy, and are unable to provide reliable map data support for unmanned vehicles.

[0005] Accordingly, the present disclosure provides a map updating method that can quickly update the loading area map based on sensors configured on engineering vehicles without affecting the execution of loading-related work tasks by engineering vehicles, and can also simultaneously update the drivable area and obstacle area within the loading area.

[0006] In a first aspect of the present disclosure, a map updating method is provided, which is executed by a map updating server, comprising: receiving perception data reported by an i-th engineering vehicle among a plurality of engineering vehicles located in a loading area; , N is the total number of engineering vehicles; fusing the perception data reported by engineering vehicles of the same type to obtain a plurality of fused data; updating the loading area map of the loading area according to the plurality of fused data; and sending the updated loading area map to the plurality of engineering vehicles.

[0007] In some embodiments, the i-th engineering vehicle is a transport vehicle, an operating vehicle carrying a cable, or an operating vehicle not carrying a cable.

[0008] In some embodiments, the i-th engineering vehicle is the transport vehicle; receiving the perception data reported by the i-th engineering vehicle includes: receiving the stop point location information and vehicle posture information reported by the i-th engineering vehicle, wherein after the i-th engineering vehicle arrives at the loading point, the stop point location information and the vehicle posture information are sent to the map update server.

[0009] In some embodiments, updating the loading area map of the loading area includes: if the multiple fused data include the stop point location information and the vehicle posture information, updating the loading area boundary in the loading area map according to the stop point location information and the vehicle posture information.

[0010] In some embodiments, receiving the perception data reported by the i-th engineering vehicle includes: receiving a grid map reported by the i-th engineering vehicle, wherein the i-th engineering vehicle collects three-dimensional point cloud data behind the i-th engineering vehicle to generate the grid map during the process of completing the loading task and leaving the loading area, and sends the grid map to the map update server.

[0011] In some embodiments, updating the loading area map of the loading area includes: if the plurality of fused data include the grid map, fusing the grid map with the loading area map of the loading area to update the loading area boundary in the loading area map.

[0012] In some embodiments, the i-th engineering vehicle is the work vehicle carrying the cable; receiving the perception data reported by the i-th engineering vehicle includes: receiving trajectory information reported by the i-th engineering vehicle, wherein the i-th engineering vehicle reports the trajectory information during the process of moving in the loading area.

[0013] In some embodiments, updating the loading area map of the loading area includes: if the multiple fused data include the trajectory information, determining the driving area of ​​the i-th engineering vehicle based on the trajectory information; if the driving area overlaps with the cable area in the loading area map, merging the driving area with the cable area; if the driving area does not overlap with the cable area in the loading area map, using the driving area as a new cable area in the loading area map.

[0014] In some embodiments, determining the driving area of ​​the i-th engineering vehicle based on the trajectory information includes: generating a circular area with each trajectory point in the trajectory information as the center and the minimum excavation distance as the radius to obtain multiple circular areas; and fusing the multiple circular areas to obtain the driving area of ​​the i-th engineering vehicle.

[0015] In some embodiments, the i-th engineering vehicle is the work vehicle that does not carry a cable; receiving the perception data reported by the i-th engineering vehicle includes: receiving contour point information reported by the i-th engineering vehicle, wherein the i-th engineering vehicle reports the contour point information during the process of moving in the loading area, and the contour point information includes the positioning information of the four corners of the body of the i-th engineering vehicle.

[0016] In some embodiments, updating the loading area map of the loading area includes: if the multiple fused data include the contour point information, storing the contour point information in a cache; periodically processing the contour point information in the cache at predetermined time intervals, wherein the areas corresponding to the multiple contour point information within each predetermined time interval are fused to obtain an operating area; and fusing the operating area with the loading area map to update the loading area map.

[0017] In some embodiments, the fusion processing includes at least one of the following: deleting redundant data in the perception data reported by the engineering vehicles of the same type; deleting erroneous data in the perception data reported by the engineering vehicles of the same type.

[0018] In a second aspect of the present disclosure, a map update server is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the method as described in any of the above embodiments based on instructions stored in the memory.

[0019] In a third aspect of the present disclosure, a map updating system is provided, comprising: a map updating server as described in any of the above embodiments; and a plurality of engineering vehicles located in a loading area, wherein an i-th engineering vehicle of the plurality of engineering vehicles is configured to report sensing data collected by a sensing device to the map updating server and receive an updated loading area map sent by the map updating server. , N is the total number of engineering vehicles.

[0020] In some embodiments, the i-th engineering vehicle is a transport vehicle, an operating vehicle carrying a cable, or an operating vehicle not carrying a cable.

[0021] In some embodiments, the i-th engineering vehicle is the transport vehicle, which is configured to send the stop point location information and the vehicle posture information to the map update server after arriving at the loading point.

[0022] In some embodiments, the i-th engineering vehicle is the transport vehicle, which is configured to collect three-dimensional point cloud data behind the i-th engineering vehicle to generate the grid map when completing the loading task and leaving the loading area, and send the grid map to the map update server.

[0023] In some embodiments, the i-th engineering vehicle is the work vehicle carrying the cable, and is configured to report trajectory information while moving in the loading area.

[0024] In some embodiments, the i-th engineering vehicle is the work vehicle that does not carry a cable, and is configured to report the contour point information while moving in the loading area, and the contour point information includes the positioning information of the four corners of the body of the i-th engineering vehicle.

[0025] In a fourth aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the method described in any of the above embodiments is implemented.

[0026] In a fifth aspect of the present disclosure, a computer program product is provided, comprising computer instructions, wherein when the computer instructions are executed by a processor, the method as described in any one of the above embodiments is implemented.

[0027] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0029] Figure 1 A flowchart of a map updating method according to an embodiment of the present disclosure is shown;

[0030] Figure 2 A schematic diagram of loading area boundary update according to an embodiment of the present disclosure;

[0031] Figure 3 A schematic diagram of loading area boundary update according to another embodiment of the present disclosure;

[0032] Figure 4 A schematic diagram of a cable zone update according to an embodiment of the present disclosure;

[0033] Figure 5This is a schematic diagram of the structure of a map update server according to an embodiment of the present disclosure;

[0034] Figure 6 The figure is a schematic diagram of the structure of a map updating system according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0036] Unless specifically stated otherwise, the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0037] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0038] Technologies, methods, and apparatus known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, such technologies, methods, and apparatus should be considered part of the authorization specification.

[0039] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0040] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0041] Figure 1 FIG2 is a flowchart of a map updating method according to an embodiment of the present disclosure. In some embodiments, the following map updating method is executed by a map updating server and includes steps 11-14.

[0042] In step 11, the sensing data reported by the i-th engineering vehicle among the multiple engineering vehicles located in the loading area is received. , N is the total number of engineering vehicles.

[0043] It should be noted that the engineering vehicles located in the loading area can be either unmanned or manned. The engineering vehicles are equipped with sensors for collecting sensory data.

[0044] In some embodiments, the i-th engineering vehicle is a transport vehicle, an operating vehicle carrying a cable, or an operating vehicle not carrying a cable.

[0045] For example, transport vehicles include mining trucks, etc., working vehicles carrying cables include electric shovels, cable cars, etc., and working vehicles not carrying cables include excavators, bulldozers, loaders, etc.

[0046] For example, when the i-th engineering vehicle is a transport vehicle, the stop point location information and vehicle posture information reported by the i-th engineering vehicle are received.

[0047] It should be noted here that the transport vehicle is equipped with a combined inertial positioning system. After arriving at the loading point, it collects the stop point location information and vehicle posture information, and sends the collected stop point location information and vehicle posture information to the map update server.

[0048] For another example, when the i-th engineering vehicle is a transport vehicle, the grid map reported by the i-th engineering vehicle is received.

[0049] It should be noted here that, when the transport vehicle completes the loading task and leaves the loading area, it uses the on-board radar to collect the three-dimensional point cloud data behind it to generate a raster map, and sends the raster map to the map update server.

[0050] For another example, when the i-th engineering vehicle is a work vehicle carrying a cable, the trajectory information reported by the i-th engineering vehicle is received.

[0051] It should be noted here that the working vehicle carrying the cable reports trajectory information while moving within the loading area.

[0052] For example, when an electric shovel is moving, the coordinates of the shovel's rotation center are collected in real time using a vehicle-mounted positioning device, and trajectory information including multiple collected coordinates is sent to a map update server at predetermined time intervals.

[0053] For another example, when the i-th engineering vehicle is a work vehicle that does not carry a cable, the contour point information reported by the i-th engineering vehicle is received.

[0054] It should be noted here that when a work vehicle without a cable moves in the loading area, it uses an on-board positioning device to collect contour point information, which includes the positioning information of the four corners of the vehicle body, and reports the collected contour point information to the map update server.

[0055] In step 12, the perception data reported by engineering vehicles of the same type are fused to obtain a plurality of fused data.

[0056] In some embodiments, the fusion processing includes at least one of the following: deleting redundant data in the perception data reported by engineering vehicles of the same type, and deleting erroneous data in the perception data reported by engineering vehicles of the same type.

[0057] Through the above fusion processing, obviously erroneous information and redundant information can be deleted to ensure the consistency and accuracy of the data.

[0058] For example, the raster maps reported by each transport vehicle are fused to delete redundant data and erroneous data in the raster maps so as to more accurately update the loading area boundaries in the loading area map.

[0059] In step 13, the loading area map is updated according to the plurality of fused data.

[0060] In some embodiments, when the i-th engineering vehicle is a transport vehicle, after the i-th engineering vehicle arrives at the loading point, it sends the docking point location information and vehicle posture information to the map update server. In response, the map update server receives the docking point location information and vehicle posture information.

[0061] In this case, if the fused data includes the stop point location information and the vehicle posture information, the loading area boundary in the loading area map is updated according to the stop point location information and the vehicle posture information.

[0062] For example, Figure 2 As shown in part A of FIG, the i-th engineering vehicle 21 is a transport vehicle that stops after arriving at the loading point. Next, the i-th engineering vehicle 21 sends the stop point location information and vehicle posture information to the map update server, where the stop point location is the middle position of the vehicle's rear axle.

[0063] The information map update server uses the stop point location as a reference and obtains the actual size parameters of the construction vehicle based on the model of the construction vehicle. Assume that the vehicle body is rectangular with a width of W, a distance from the rear axle center to the front of the vehicle LF, and a distance from the rear axle center to the rear of the vehicle LB. With the stop point as the center, the body is expanded in all directions in the length and width directions to form a body frame graphic 22. The stop point boundary coordinates after the body graphic is expanded based on the stop point are calculated in combination with the vehicle's heading angle. When the stop point boundary intersects with the original map boundary, the current loading area map is updated, as shown in the following example. Figure 2 As shown in Part B.

[0064] In some embodiments, when the i-th engineering vehicle is a transport vehicle, as the i-th engineering vehicle completes its loading task and leaves the loading area, it collects three-dimensional point cloud data behind the i-th engineering vehicle to generate a raster map, and transmits the raster map to the map update server. In response, the map update server receives the raster map.

[0065] In this case, if the raster map is included in the plurality of fused data, the raster map is fused with the loading area map of the loading area to update the loading area boundary in the loading area map.

[0066] For example, Figure 3 As shown in part A of the figure, as the i-th engineering vehicle completes its loading task and leaves the loading area, it uses its onboard radar to collect 3D point cloud data behind the i-th engineering vehicle to generate a raster map 30, which is then sent to the map update server. It should be noted that the dark areas in raster map 30 represent obstacles.

[0067] The map update server fuses the grid map 30 with the loading area map of the loading area. Through the fusion process, it is found that the boundary 31 of the loading area overlaps with the obstacle in the grid map 30. Therefore, the loading area needs to be updated to obtain the updated boundary 32 of the loading area, such as Figure 3 As shown in Part B.

[0068] Depend on Figure 3 It can be seen that, according to the grid map 30 sent by the i-th engineering vehicle, the boundary of the loading area is updated from the original boundary 31 to the boundary 32 , that is, the boundary of the loading area can be adjusted in real time according to the actual situation of the loading area.

[0069] In some embodiments, when the i-th engineering vehicle is a work vehicle carrying a cable, the i-th engineering vehicle reports trajectory information while moving within the loading area. Accordingly, the map update server receives the trajectory information.

[0070] In this case, if the trajectory information is included in a plurality of fused data, the driving area of ​​the i-th engineering vehicle is determined according to the trajectory information.

[0071] For example, a circular area is generated with each trajectory point in the trajectory information as the center and the minimum excavation distance (for example, the minimum excavation distance is 8 meters) as the radius to obtain multiple circular areas. Next, these multiple circular areas are merged to obtain the driving area of ​​the i-th engineering vehicle.

[0072] If the driving area overlaps with the cable area in the loading area map, the driving area and the cable area are merged. If the driving area and the cable area in the loading area map do not overlap, the driving area is used as the new cable area in the loading area map.

[0073] For example, Figure 4 As shown in part A in FIG, the loading area 40 includes a cable area 41.

[0074] The map update server determines the driving area of ​​the engineering vehicle 400 based on the trajectory information reported by the engineering vehicle 400. Since the driving area overlaps with the cable area 41 in the loading area map, the driving area and the cable area are merged to obtain an updated cable area 42.

[0075] It should be noted here that if the driving area does not overlap with the cable area in the loading area map, but the distance between the driving area and the cable area is less than a predetermined distance (for example, 2 meters), it can also be considered that the driving area and the cable area in the loading area map overlap.

[0076] In some embodiments, if the i-th construction vehicle is a work vehicle not carrying a cable, the i-th construction vehicle reports contour point information while moving within the loading area. The contour point information includes positioning information of the four corners of the i-th construction vehicle. Accordingly, the map update server receives the contour point information.

[0077] In this case, if the contour point information is included in multiple fused data sets, the map update server stores the contour point information in a cache. Next, the map update server periodically processes the contour point information in the cache at predetermined intervals (e.g., 60 seconds), fusing the areas corresponding to the multiple contour point information within each predetermined interval to obtain the work area. The work area is then fused with the loading area map to update the loading area map.

[0078] For example, while a bulldozer is in motion, its onboard positioning device continuously reports the contour points of its four corners. The map update server processes these points periodically at a fixed interval (e.g., 60 seconds, which can be flexibly adjusted based on actual operational conditions).

[0079] Assume that N contour point information is received within a time interval, and each contour point information includes 4 point information, then there are 4*N point information in total. The merging method is:

[0080] 1) The corresponding 4 points form a body rectangle.

[0081] 2) Adjacent overlapping rectangles are merged into one shape; adjacent non-overlapping rectangles are created into a new group and continue to merge shapes.

[0082] 3) The merged M (M is greater than or equal to 1 and M is less than or equal to N) graphics are merged with the loading area in sequence to update the loading area map.

[0083] In some embodiments, the updated loading area map may also be subjected to processes such as hole fusion and boundary smoothing to ensure the topological consistency of the loading area map.

[0084] In step 14 , the updated loading area map is sent to a plurality of engineering vehicles.

[0085] In the map updating method provided in the above-mentioned embodiment of the present disclosure, the loading area map can be quickly updated based on the sensors configured on the engineering vehicle without affecting the execution of loading-related work tasks by the engineering vehicle, thereby improving the efficiency of generating the loading area boundary map, the real-time performance and accuracy of the map, and at the same time, the drivable area and obstacle area within the loading area can be updated simultaneously.

[0086] Figure 5 The figure is a schematic diagram of the structure of a map update server according to an embodiment of the present disclosure.

[0087] like Figure 5 As shown, the map update server 50 may be in the form of a general-purpose computing device and includes a memory 51, a processor 52, and a bus 53 for connecting various system components.

[0088] The memory 51 may include, for example, a system memory, a non-volatile storage medium, etc. The system memory may store, for example, an operating system, an application, a boot loader, and other programs. The system memory may include a volatile storage medium, such as a random access memory (RAM) and / or a cache memory. The non-volatile storage medium may store, for example, at least one of the execution

[0089] Instructions of the corresponding embodiment of the method. Non-volatile storage media include but are not limited to magnetic disk storage, optical storage, flash memory, etc.

[0090] The processor 52 can be implemented using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, or discrete hardware components such as discrete gates or transistors. Accordingly, each module, such as the acquisition module, the calculation module, and the adjustment module, can be implemented by a central processing unit (CPU) executing instructions in memory that execute corresponding steps, or by dedicated circuits that execute corresponding steps.

[0091] For example, the processor 52 is configured to execute instructions stored in the memory to implement the following Figure 1 The method according to any one of the embodiments.

[0092] The bus 53 may use any of a variety of bus architectures, including, but not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, and a Peripheral Component Interconnect (PCI) bus.

[0093] These interfaces 54, 55, and 56 of the map update server 50, as well as the memory 51 and the processor 52, can be connected via a bus 53. The input / output interface 54 provides a connection interface for input / output devices such as a display, mouse, and keyboard. The network interface 55 provides a connection interface for various networked devices. The storage interface 56 provides a connection interface for external storage devices such as floppy disks, USB flash drives, and SD cards.

[0094] Here, various aspects of the present disclosure are described with reference to flowcharts and / or block diagrams of methods, devices, and computer program products according to embodiments of the present disclosure. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks, can be implemented by computer-readable program instructions.

[0095] These computer-readable program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable device to produce a machine, so that the processor executes the instructions to produce means for implementing the functions specified in one or more blocks in the flowcharts and / or block diagrams.

[0096] These computer-readable program instructions may also be stored in a computer-readable memory, which cause the computer to operate in a specific manner to produce an article of manufacture, including instructions for implementing the functions specified in one or more blocks in the flowcharts and / or block diagrams.

[0097] The present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects.

[0098] The present disclosure also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, which, when executed by a processor, implement the following Figure 1 The method according to any one of the embodiments.

[0099] The present disclosure also provides a computer program product, including computer instructions, wherein when the computer instructions are executed by a processor, the following is achieved: Figure 1 The method according to any one of the embodiments.

[0100] Figure 6 The figure is a schematic diagram of the structure of a map updating system according to an embodiment of the present disclosure.

[0101] like Figure 6 As shown, the map update system includes a map update server 61 and a plurality of engineering vehicles 621, ..., 62i, ..., 62N located in the loading area. Figure 5 The map update server involved in any embodiment.

[0102] In the map update system, the i-th engineering vehicle 62i is configured to report the sensing data collected by the sensing device to the map update server 61 and receive the updated loading area map sent by the map update server 61. , N is the total number of engineering vehicles.

[0103] In some embodiments, the i-th engineering vehicle is a transport vehicle, an operating vehicle carrying a cable, or an operating vehicle not carrying a cable.

[0104] In some embodiments, the i-th engineering vehicle is a transport vehicle, and is configured to send stop location information and vehicle posture information to a map update server after arriving at a loading point.

[0105] In some embodiments, the i-th engineering vehicle is a transport vehicle, which is configured to collect three-dimensional point cloud data behind the i-th engineering vehicle to generate a raster map when completing the loading task and leaving the loading area, and send the raster map to the map update server.

[0106] In some embodiments, the i-th engineering vehicle is a work vehicle carrying a cable, and is configured to report trajectory information while moving within the loading area.

[0107] In some embodiments, the i-th engineering vehicle is an operating vehicle that does not carry a cable and is configured to report contour point information while moving in the loading area. The contour point information includes positioning information of the four corners of the body of the i-th engineering vehicle.

[0108] By implementing the above-mentioned embodiments of the present disclosure, the following beneficial effects can be obtained.

[0109] 1. Efficient resource utilization: For frequently changing loading areas, map updates are achieved by simply uploading data from operating vehicles during the mining process, eliminating the need for additional equipment and significantly reducing costs. This also ensures operational continuity without impacting the mine's loading operations.

[0110] 2. Wide applicability: Supports manned and unmanned vehicles equipped with radar or positioning systems in all loading areas to participate in map updates, fully integrates the mine's existing vehicle resources, and improves the coverage and real-time performance of map updates.

[0111] 3. Accurate dynamic updates: Differentiated update strategies are adopted based on the different operation phases of the vehicle, combined with the synchronous update of the obstacle area by the cable car. This can more accurately reflect the actual changes in the loading area, provide more reliable map data for unmanned vehicles, and improve the rationality of path planning and the accuracy of obstacle avoidance.

[0112] 4. Optimize map quality: Through data fusion and map optimization algorithms, data errors and redundancies are effectively eliminated, the logical coherence and integrity of the map are ensured, map quality is improved, and the safety and efficiency of unmanned operations in open-pit mines are further guaranteed.

[0113] In some embodiments, the functional units described above may be implemented as general-purpose processors, programmable logic controllers (PLCs), digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any appropriate combination thereof, for performing the functions described in the present disclosure.

[0114] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0115] The description of the present disclosure is provided for purposes of illustration and description and is not intended to be exhaustive or to limit the disclosure to the disclosed form. Many modifications and variations will be apparent to those skilled in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present disclosure and to enable those skilled in the art to understand the present disclosure and design various embodiments with various modifications suitable for specific applications.

Claims

1. A map updating method, executed by a map updating server, comprising: Receive the perception data reported by the i-th engineering vehicle among multiple engineering vehicles located in the loading area, , N is the total number of engineering vehicles; Fusing the perception data reported by engineering vehicles of the same type to obtain multiple fused data; updating a loading area map of the loading area according to the plurality of fused data; The updated loading area map is sent to the plurality of engineering vehicles.

2. The map updating method according to claim 1, wherein: The i-th engineering vehicle is a transport vehicle, an operating vehicle carrying a cable, or an operating vehicle not carrying a cable.

3. The map updating method according to claim 2, wherein: The i-th engineering vehicle is the transport vehicle; The perception data received from the i-th engineering vehicle includes: Receive the stop point location information and vehicle posture information reported by the i-th engineering vehicle, wherein after the i-th engineering vehicle arrives at the loading point, send the stop point location information and the vehicle posture information to the map update server.

4. The map updating method according to claim 3, wherein: Updating the loading area map of the loading area includes: If the plurality of fused data include the stop point location information and the vehicle posture information, the loading area boundary in the loading area map is updated according to the stop point location information and the vehicle posture information.

5. The map updating method according to claim 3, wherein: The perception data reported by the i-th engineering vehicle also includes: Receive a grid map reported by the i-th engineering vehicle, wherein when the i-th engineering vehicle completes a loading task and leaves the loading area, collect three-dimensional point cloud data behind the i-th engineering vehicle to generate the grid map, and send the grid map to the map update server.

6. The map updating method according to claim 5, wherein: Updating the loading area map of the loading area includes: If the plurality of fused data include the grid map, the grid map is fused with the loading area map of the loading area to update the loading area boundary in the loading area map.

7. The map updating method according to claim 2, wherein: The i-th engineering vehicle is the working vehicle carrying the cable; The perception data received from the i-th engineering vehicle includes: Receive trajectory information reported by the i-th engineering vehicle, wherein the i-th engineering vehicle reports the trajectory information while moving in the loading area.

8. The map updating method according to claim 7, wherein: Updating the loading area map of the loading area includes: If the plurality of fused data include the trajectory information, determining the driving area of ​​the i-th engineering vehicle according to the trajectory information; If the driving area overlaps with the cable area in the loading area map, merging the driving area with the cable area; If the driving area does not overlap with the cable area in the loading area map, the driving area is used as a new cable area in the loading area map.

9. The map updating method according to claim 8, wherein: Determining the driving area of ​​the i-th engineering vehicle according to the trajectory information includes: generating a circular area with each trajectory point in the trajectory information as a center and a minimum excavation distance as a radius to obtain a plurality of circular areas; The multiple circular areas are merged to obtain the driving area of ​​the i-th engineering vehicle.

10. The map updating method according to claim 2, wherein: The i-th engineering vehicle is the working vehicle that does not carry a cable; The perception data received from the i-th engineering vehicle includes: Receive contour point information reported by the i-th engineering vehicle, wherein the contour point information is reported while the i-th engineering vehicle is moving in the loading area, and the contour point information includes positioning information of four corners of a vehicle body of the i-th engineering vehicle.

11. The map updating method according to claim 10, wherein: Updating the loading area map of the loading area includes: If the plurality of fused data include the contour point information, storing the contour point information in a cache; Periodically processing the contour point information in the buffer at predetermined time intervals, wherein regions corresponding to a plurality of contour point information within each predetermined time interval are merged to obtain an operation area; The operation area is merged with the loading area map to update the loading area map.

12. The map updating method according to any one of claims 1 to 11, wherein: The fusion process includes at least one of the following: Deleting redundant data from the perception data reported by the engineering vehicles of the same type; Delete erroneous data in the perception data reported by the engineering vehicles of the same type.

13. A map update server, comprising: Memory; A processor is coupled to the memory, and the processor is configured to execute the method according to any one of claims 1 to 12 based on instructions stored in the memory.

14. A map updating system comprising: The map update server according to claim 13; a plurality of engineering vehicles located in a loading area, wherein an i-th engineering vehicle of the plurality of engineering vehicles is configured to report sensing data collected by a sensing device to the map update server and receive an updated loading area map sent by the map update server, , N is the total number of engineering vehicles.

15. The map updating system according to claim 14, wherein: The i-th engineering vehicle is a transport vehicle, an operating vehicle carrying a cable, or an operating vehicle not carrying a cable.

16. The map updating system according to claim 15, wherein: The i-th engineering vehicle is the transport vehicle, and is configured to send the stop point location information and the vehicle posture information to the map update server after arriving at the loading point.

17. The map updating system according to claim 16, wherein: The i-th engineering vehicle is the transport vehicle, and is configured to collect three-dimensional point cloud data behind the i-th engineering vehicle to generate the grid map when completing the loading task and leaving the loading area, and send the grid map to the map update server.

18. The map updating system according to claim 15, wherein: The i-th engineering vehicle is the working vehicle carrying the cable, and is configured to report trajectory information while moving in the loading area.

19. The map updating system according to claim 15, wherein: The i-th engineering vehicle is the work vehicle that does not carry a cable, and is configured to report the contour point information while moving in the loading area. The contour point information includes positioning information of the four corners of the body of the i-th engineering vehicle.

20. A computer-readable storage medium, wherein: The computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the map updating method according to any one of claims 1 to 12 is implemented.

21. A computer program product comprising computer instructions, wherein when the computer instructions are executed by a processor, the map updating method according to any one of claims 1 to 12 is implemented.

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