Muck pile boundary updating method and device, computer readable storage medium and vehicle

Abstract

The invention belongs to the technical field of intelligent driving, and particularly relates to a muck pile boundary updating method and device, a computer readable storage medium and a vehicle. The method comprises the following steps: respectively constructing a ground map and a muck pile boundary map according to laser radar point cloud data of a vehicle in the process that the vehicle backs to the muck pile boundary; determining a passable area of the vehicle according to the ground map and the muck pile boundary map; determining an impassable area of the vehicle according to the muck pile boundary map; and fusing the passable area, the impassable area and an original muck pile boundary to obtain an updated muck pile boundary. According to the method and the device, the original muck pile boundary can be updated according to the real-time laser radar point cloud data in the process that the vehicle backs to the muck pile boundary, and the real and reliable updated muck pile boundary is obtained, so that the interference of the outdated muck pile boundary on the normal operation of the vehicle is effectively avoided, and the vehicle can be accurately parked on the muck pile.

Description

Technical Field

[0001] This application belongs to the field of intelligent driving technology, and in particular relates to a method, apparatus, computer-readable storage medium, and vehicle for updating the bursting pile boundary. Background Technology

[0002] With the development of intelligent driving technology, various vehicles can automatically drive in different work scenarios to perform corresponding tasks. Mining areas, due to their relatively closed working environment, are one of the best scenarios for the implementation of intelligent driving technology. In actual production operations in mining areas, the frequent changes in the boundary of the blast pile caused by excavators digging ore and blasting ore can interfere with the normal operation of vehicles, making it difficult for vehicles to park accurately on the blast pile. Summary of the Invention

[0003] In view of this, embodiments of this application provide a method, apparatus, computer-readable storage medium, and vehicle for updating the boundary of a blast pile, in order to solve the problem that frequent changes in the boundary of a blast pile interfere with the normal operation of the vehicle, making it difficult for the vehicle to park accurately on the blast pile.

[0004] A first aspect of this application provides a bursty heap boundary update method, which may include:

[0005] During the process of the vehicle reversing towards the boundary of the blast pile, a ground map and a blast pile boundary map are constructed based on the vehicle's lidar point cloud data.

[0006] The passable area of ​​the vehicle is determined based on the ground map and the blast pile boundary map;

[0007] The impassable area for the vehicle is determined based on the boundary map of the blast pile;

[0008] The passable area, the impassable area, and the original blast pile boundary are merged to obtain the updated blast pile boundary.

[0009] In one specific implementation of the first aspect, the step of constructing a ground map and a blast pile boundary map based on the vehicle's lidar point cloud data may include:

[0010] For each frame of lidar point cloud data, the ground point cloud and the blast pile boundary point cloud are determined separately.

[0011] The ground point cloud is projected onto a preset first grid map to construct the ground map;

[0012] The point cloud of the blast pile boundary is projected onto a preset second grid map to construct the blast pile boundary map.

[0013] In one specific implementation of the first aspect, determining the passable area of ​​the vehicle based on the ground map and the blast pile boundary map may include:

[0014] For each coordinate position the vehicle passes through during reversing, rays extending outward from the coordinate position are emitted at preset angular intervals;

[0015] If the current grid coordinate's occupancy value in the blast pile boundary map is less than or equal to a preset first occupancy threshold, then the current grid coordinate is saved, and the ray continues to extend outward; where the current grid coordinate is the grid coordinate to which the ray currently extends.

[0016] If the current grid coordinate occupancy value in the blast pile boundary map is greater than the first occupancy threshold, then the extension of the ray is stopped, and the saved grid coordinates are added to the coordinate set of the passable area.

[0017] In one specific implementation of the first aspect, determining the passable area of ​​the vehicle based on the ground map and the blast pile boundary map may further include:

[0018] If the ray has extended to the preset maximum distance, delete the saved grid coordinates and re-emit the ray extending outward from the said position coordinates;

[0019] If the current grid coordinate's occupancy value in the ground map is greater than or equal to a preset second occupancy threshold, then the current grid coordinate is saved, and the ray continues to extend outward.

[0020] If the current grid coordinate's occupancy value in the ground map is less than the second occupancy threshold, then the extension of the ray is stopped, and the saved grid coordinates are added to the coordinate set of the passable area.

[0021] In one specific implementation of the first aspect, determining the impassable area for the vehicle based on the blast pile boundary map may include:

[0022] For each coordinate position the vehicle passes through during reversing, rays extending outward from the coordinate position are emitted at preset angular intervals;

[0023] If the current grid coordinate's occupancy value in the blast pile boundary map is less than or equal to a preset first occupancy threshold, the ray will continue to extend outward; where the current grid coordinate is the grid coordinate to which the ray currently extends.

[0024] If the current grid coordinate's occupancy value in the blast pile boundary map is greater than the first occupancy threshold, then the distance from the current grid coordinate to the original blast pile boundary along the ray direction is determined;

[0025] If the distance is less than a preset distance threshold, the grid coordinates from the current grid coordinates to the original blast pile boundary along the ray direction will be added to the coordinate set of the impassable area.

[0026] In one specific implementation of the first aspect, the step of fusing the passable area, the impassable area, and the original blast pile boundary to obtain the updated blast pile boundary may include:

[0027] The passable area is merged with the original blast pile boundary to obtain the expanded blast pile boundary;

[0028] The impassable area is merged with the expanded blast pile boundary to obtain the updated blast pile boundary.

[0029] In one specific implementation of the first aspect, the step of fusing the passable area, the impassable area, and the original blast pile boundary to obtain the updated blast pile boundary may include:

[0030] The impassable area is merged with the original blast pile boundary to obtain the inward blast pile boundary;

[0031] The passable area is merged with the inner shrinkage blast pile boundary to obtain the updated blast pile boundary.

[0032] A second aspect of this application provides a burst pile boundary updating apparatus, which may include:

[0033] The map building module is used to build a ground map and a blast pile boundary map based on the vehicle's lidar point cloud data during the process of the vehicle reversing towards the blast pile boundary.

[0034] The passable area determination module is used to determine the passable area of ​​the vehicle based on the ground map and the blast pile boundary map;

[0035] The impassable area determination module is used to determine the impassable area of ​​the vehicle based on the blast pile boundary map;

[0036] The blast pile boundary fusion module is used to merge the passable area, the impassable area and the original blast pile boundary to obtain the updated blast pile boundary.

[0037] In one specific implementation of the second aspect, the map building module may include:

[0038] The point cloud determination unit is used to determine the ground point cloud and the blast pile boundary point cloud for each frame of lidar point cloud data.

[0039] A ground map construction unit is used to project the ground point cloud onto a preset first grid map to construct the ground map;

[0040] The blast pile boundary map construction unit is used to project the blast pile boundary point cloud onto a preset second grid map to construct the blast pile boundary map.

[0041] In one specific implementation of the second aspect, the passable area determination module can be specifically used to: for each position coordinate passed by the vehicle during reversing, emit rays extending outward from the position coordinates at preset angular intervals; if the current grid coordinate's occupancy value in the blast pile boundary map is less than or equal to a preset first occupancy threshold, then save the current grid coordinate and continue extending the ray outward; wherein, the current grid coordinate is the grid coordinate to which the ray currently extends; if the current grid coordinate's occupancy value in the blast pile boundary map is greater than the first occupancy threshold, then stop the ray's extension and add the saved grid coordinate to the coordinate set of the passable area.

[0042] In one specific implementation of the second aspect, the passable area determination module can also be used to: if the ray has extended to a preset maximum distance, delete the saved grid coordinates and re-emit the ray extending outward from the position coordinates; if the current grid coordinate's occupancy value in the ground map is greater than or equal to a preset second occupancy threshold, save the current grid coordinates and continue extending the ray outward; if the current grid coordinate's occupancy value in the ground map is less than the second occupancy threshold, stop the ray's extension and add the saved grid coordinates to the coordinate set of the passable area.

[0043] In one specific implementation of the second aspect, the impassable area determination module can be specifically used to: for each position coordinate passed by the vehicle during reversing, emit rays extending outward from the position coordinates at preset angular intervals; if the occupancy value of the current grid coordinate in the blast pile boundary map is less than or equal to a preset first occupancy threshold, then continue to extend the ray outward; wherein, the current grid coordinate is the grid coordinate to which the ray currently extends; if the occupancy value of the current grid coordinate in the blast pile boundary map is greater than the first occupancy threshold, then determine the distance from the current grid coordinate to the original blast pile boundary along the ray direction; if the distance is less than a preset distance threshold, then add the grid coordinate from the current grid coordinate to the original blast pile boundary along the ray direction to the coordinate set of the impassable area.

[0044] In one specific implementation of the second aspect, the blast pile boundary fusion module can be specifically used to: fuse the passable area with the original blast pile boundary to obtain an expanded blast pile boundary; and fuse the impassable area with the expanded blast pile boundary to obtain the updated blast pile boundary.

[0045] In one specific implementation of the second aspect, the blast pile boundary fusion module can be specifically used to: fuse the impassable area with the original blast pile boundary to obtain a contracted blast pile boundary; and fuse the passable area with the contracted blast pile boundary to obtain the updated blast pile boundary.

[0046] A third aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of any of the above-described burst heap boundary update methods.

[0047] A fourth aspect of this application provides a vehicle including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any of the above-described burst-pile boundary update methods.

[0048] A fifth aspect of this application provides a computer program product that, when run on a vehicle, causes the vehicle to perform the steps of any of the above-described burst-heap boundary update methods.

[0049] The beneficial effects of this application embodiment compared with the prior art are as follows: During the process of a vehicle reversing towards the boundary of a blast pile, this application embodiment constructs a ground map and a blast pile boundary map based on the vehicle's LiDAR point cloud data; it determines the vehicle's passable area based on the ground map and the blast pile boundary map; it determines the vehicle's impassable area based on the blast pile boundary map; and it merges the passable area and the impassable area with the original blast pile boundary to obtain an updated blast pile boundary. Through this application embodiment, the original blast pile boundary can be updated based on real-time LiDAR point cloud data during the process of a vehicle reversing towards the blast pile boundary, resulting in a reliable updated blast pile boundary. This effectively avoids the interference of outdated blast pile boundaries on the normal operation of the vehicle, enabling the vehicle to accurately park on the blast pile. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 This is a flowchart of one embodiment of a burst-pile boundary update method in this application.

[0052] Figure 2 A schematic flowchart illustrating the construction of a ground map and a blast pile boundary map based on the vehicle's lidar point cloud data;

[0053] Figure 3 This is a schematic diagram of a typical scenario involving the changing boundary of a burst pile.

[0054] Figure 4 A schematic diagram of the expanded blast pile boundary is obtained to merge the passable area with the original blast pile boundary;

[0055] Figure 5 A schematic diagram of the updated blast pile boundary is obtained by merging the impassable area with the outer blast pile boundary;

[0056] Figure 6 This is a structural diagram of one embodiment of a blasting pile boundary updating device in this application.

[0057] Figure 7 This is a schematic block diagram of a vehicle according to an embodiment of this application. Detailed Implementation

[0058] To make the inventive objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0059] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0060] It should also be understood that the terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0061] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0062] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [the described condition or event] is detected," or "in response to detection of [the described condition or event]."

[0063] Furthermore, in the description of this application, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0064] With the development of intelligent driving technology, various vehicles can automatically drive in different work scenarios to perform corresponding tasks. Mining areas, due to their relatively closed working environment, are one of the best scenarios for the implementation of intelligent driving technology. In actual production operations in mining areas, the frequent changes in the boundary of the blast pile caused by excavators digging ore and blasting ore can interfere with the normal operation of vehicles, making it difficult for vehicles to park accurately on the blast pile.

[0065] In view of this, this application provides a method for updating the blast pile boundary to solve the problem that frequent changes in the blast pile boundary interfere with the normal operation of vehicles, making it difficult for vehicles to accurately park on the blast pile. This application can update the original blast pile boundary based on real-time LiDAR point cloud data during the process of the vehicle reversing towards the blast pile boundary, obtaining a reliable updated blast pile boundary. This effectively avoids the interference of outdated blast pile boundaries with the normal operation of the vehicle, enabling the vehicle to accurately park on the blast pile.

[0066] The executing entity in this application embodiment can be a vehicle, including but not limited to mining trucks, freight trucks, tractor-trailers, dump trucks or other various types of vehicles.

[0067] See also Figure 1 One embodiment of a burst-pile boundary update method in this application may include:

[0068] Step S101: During the process of the vehicle reversing towards the boundary of the blast pile, a ground map and a blast pile boundary map are constructed based on the vehicle's lidar point cloud data.

[0069] When the vehicle is moving towards the loading area and preparing to reverse, the latest burst boundary can be obtained and recorded as the original burst boundary. In one specific implementation of this application embodiment, the original burst boundary can be pre-stored in a cloud server. The vehicle can send a request to the cloud server to obtain the original burst boundary. After receiving the request, the cloud server can send the original burst boundary it stores to the requesting vehicle. In another specific implementation of this application embodiment, the original burst boundary can be pre-stored in the vehicle's own storage medium, and the vehicle can directly obtain the original burst boundary from it.

[0070] During the reversing process of the vehicle towards the boundary of the blast pile, the vehicle can continuously collect data on the surrounding environment using LiDAR, recording it as LiDAR point cloud data. In one specific implementation of this application embodiment, a ground map and a blast pile boundary map can be constructed based on each frame of LiDAR point cloud data collected from the first moment to the second moment. The first moment is the moment when the vehicle begins to reverse, and the second moment is the moment when the vehicle reverses to a preset target distance from the original blast pile boundary. The specific value of the target distance can be set according to the actual situation, for example, it can be set to 5 meters, 8 meters, 10 meters or other values. This application embodiment does not specifically limit this value.

[0071] like Figure 2 As shown, the process of constructing the ground map and the blast pile boundary map can specifically include the following steps:

[0072] Step S1011: For each frame of lidar point cloud data, determine the ground point cloud and the blast pile boundary point cloud respectively.

[0073] Taking the determination of ground point cloud data for any frame of LiDAR point cloud data as an example, a preset plane extraction algorithm can be used to extract the plane corresponding to the frame of LiDAR point cloud data. The specific plane extraction algorithm used can be set according to the actual situation. For example, it can include, but is not limited to, the Random Sample Consensus (RANSAC) algorithm. This application embodiment does not specifically limit this.

[0074] Then, point clouds with an elevation difference less than a preset first elevation difference threshold from the plane can be identified as ground point clouds. The specific value of the first elevation difference threshold can be set according to the actual situation. For example, it can be set to 0.2 meters, 0.3 meters, 0.5 meters, or other values. This application embodiment does not specifically limit this value.

[0075] Taking the determination of the point cloud boundary of a burst pile using any frame of lidar point cloud data as an example, the process can begin by dividing the data into grids. The lidar point cloud data frame is then projected onto these grids, and the highest point height (denoted as Z_max) and lowest point height (denoted as Z_min) of the point cloud within each grid are determined. For a burst pile, the height of its point cloud generally exhibits significant differences. Therefore, grids with a height difference (i.e., Z_max - Z_min) less than a preset second height difference threshold can be removed. The specific value of the second height difference threshold can be set according to actual conditions; for example, it can be set to 0.2 meters, 0.3 meters, 0.5 meters, or other values. This embodiment does not specifically limit this value.

[0076] For each remaining grid cell, a preset plane extraction algorithm can be used to extract its planes, resulting in the planes corresponding to each grid cell. The angle between the normal vector of each plane and the vertical normal vector (0, 0, 1) is then calculated. If the angle between the normal vector of the plane corresponding to a grid cell and the vertical normal vector is greater than a preset angle threshold, then the grid cell is considered to contain mostly point clouds on the blast pile. In this case, the lowest point height (Z_min) in the grid cell can be taken as the ground height, and the point clouds in the grid cell whose height is greater than the sum of the ground height and a preset third height difference threshold are identified as blast pile boundary point clouds. If the angle between the normal vector of the plane corresponding to a grid cell and the vertical normal vector is less than or equal to the angle threshold, then the grid cell is considered to contain mostly point clouds on the ground. In this case, the height of the plane corresponding to the grid cell (denoted as plane_Z) can be taken as the ground height, and the point clouds in the grid cell whose height is greater than the sum of the ground height and the third height threshold are identified as blast pile boundary point clouds.

[0077] The specific value of the angle threshold can be set according to the actual situation. For example, it can be set to 25 degrees, 30 degrees, 35 degrees or other values. This application embodiment does not make a specific limitation on this. The specific value of the third height threshold can be set according to the actual situation. For example, it can be set to 0.2 meters, 0.3 meters, 0.5 meters or other values. This application embodiment does not make a specific limitation on this.

[0078] Step S1012: Project the ground point cloud onto the preset first grid map to construct the ground map.

[0079] The first grid map can be a two-dimensional occupied grid map, where the occupancy value of each grid coordinate is the number of times that grid coordinate is occupied by the ground point cloud in each frame of LiDAR point cloud data. The larger the occupancy value, the greater the probability that the grid coordinate belongs to the ground, and vice versa. In the initial state, the occupancy value of each grid coordinate is 0.

[0080] Taking any frame of LiDAR point cloud data as an example, the ground point cloud in the frame of LiDAR point cloud data can be transformed according to the vehicle's position coordinates when it was collected, so as to obtain the grid coordinates of each grid corresponding to these ground point clouds in the first grid map, and then the occupancy value of these grid coordinates is incremented by 1.

[0081] The above method is used to traverse each frame of LiDAR point cloud data, that is, to continuously project the ground point cloud in the new frame of LiDAR point cloud data onto the first grid map and update the occupancy value of the corresponding grid coordinates. The first grid map obtained after the traversal is completed is the ground map.

[0082] The vehicle's position coordinates can be determined by the vehicle's positioning module, which can employ at least one positioning technology for vehicle positioning, including but not limited to positioning technologies based on Global Positioning System (GPS), BeiDou Navigation Satellite System (BDS), Global Navigation Satellite System (GLONASS), and Galileo Satellite Navigation System (GALILEO). For each position coordinate the vehicle passes during the reversing process, it can be sequentially added to a preset coordinate queue (denoted as List_0).

[0083] Step S1013: Project the point cloud of the blast pile boundary onto the preset second grid map to construct the blast pile boundary map.

[0084] The second grid map can be a two-dimensional occupied grid map, where the occupancy value of each grid coordinate is the number of times that grid coordinate is occupied by the blast pile boundary point cloud in each frame of LiDAR point cloud data. The larger the occupancy value, the greater the probability that the grid coordinate belongs to the blast pile boundary; conversely, the smaller the occupancy value, the less likely that the grid coordinate belongs to the blast pile boundary. Initially, the occupancy value of each grid coordinate is 0.

[0085] Taking any frame of LiDAR point cloud data as an example, the coordinates of the explosion boundary point cloud in the frame of LiDAR point cloud data can be transformed according to the vehicle's position coordinates when the data was collected, so as to obtain the grid coordinates of each grid corresponding to these explosion boundary point clouds in the second grid map, and then the occupancy value of these grid coordinates is incremented by 1.

[0086] The above method is used to traverse each frame of LiDAR point cloud data, that is, to continuously project the blast pile boundary point cloud in the new frame of LiDAR point cloud data onto the second grid map, and update the occupancy value of the corresponding grid coordinates. The second grid map obtained after the traversal is completed is the blast pile boundary map.

[0087] It should be noted that since noise points such as dust often only exist in a small number of frames, such as only 2-3 frames, their corresponding occupancy value in the grid map is also small. Therefore, noise points can be effectively filtered based on their occupancy value.

[0088] By constructing maps from the ground point cloud and the blast pile boundary point cloud in the lidar point cloud data, a dense ground map and a blast pile boundary map can be obtained. Based on this, a blast pile boundary that is closer to the real situation can be obtained.

[0089] Step S102: Determine the passable area for vehicles based on the ground map and the blast pile boundary map.

[0090] For each coordinate position the vehicle passes through during reversing (i.e., each coordinate position in the coordinate queue List_0), rays extending outward from that coordinate position can be emitted at preset angular intervals. The specific value of the angular interval can be set according to the actual situation; for example, it can be set to 0.3 degrees, 0.4 degrees, 0.5 degrees, or other values. This application embodiment does not specifically limit this. Taking an angular interval of 0.3 degrees as an example, rays with a total horizontal viewing angle of 1200 can be emitted at 0 degrees, 0.3 degrees, 0.6 degrees, 0.9 degrees, 1.2 degrees, ..., 359.1, 359.4, and 359.7 degrees.

[0091] Taking any one of the rays as an example, if the current grid coordinate's occupancy value in the blast pile boundary map is less than or equal to a preset first occupancy threshold (denoted as T0), the current grid coordinate can be saved, and the ray can continue to extend outward; if the current grid coordinate's occupancy value in the blast pile boundary map is greater than the first occupancy threshold, the ray's extension is stopped, and the saved grid coordinate is added to the coordinate set of the passable area (denoted as List_free). Here, the current grid coordinate is the grid coordinate to which the ray currently extends. The specific value of the first occupancy threshold can be set according to actual conditions; for example, it can be set to 5, 8, 10, or other values. This embodiment does not specifically limit this.

[0092] If the ray has extended to the preset maximum distance and still cannot find a grid coordinate with an occupation value greater than the first occupation threshold, it can be considered that there is no corresponding blast pile in the direction of the ray. At this time, the saved grid coordinates can be deleted, and a ray extending outward from the position coordinates can be re-emitted. The emission angle of the ray remains unchanged, but the difference is that this time the search is not performed on the blast pile boundary map, but on the ground map. The specific value of the maximum distance can be set according to the actual situation. For example, it can be set to 40 meters, 50 meters, 60 meters, or other values. This application embodiment does not specifically limit this.

[0093] If the current grid coordinate's occupancy value on the ground map is greater than or equal to a preset second occupancy threshold, the current grid coordinate is saved, and the ray continues to extend outward. If the current grid coordinate's occupancy value on the ground map is less than the second occupancy threshold, the ray extension stops, and the saved grid coordinate is added to the coordinate set of the passable area. The specific value of the second occupancy threshold can be set according to actual conditions; for example, it can be set to 5, 8, 10, or other values. This embodiment does not specifically limit this value.

[0094] By traversing each ray extending outward from a given location coordinate in the manner described above, the passable area corresponding to all viewpoints of that location coordinate can be determined. By traversing each location coordinate again, the passable area corresponding to all viewpoints of all location coordinates during the vehicle's movement can be determined. Based on this, a more realistic blasting boundary can be obtained.

[0095] Step S103: Determine the impassable area for vehicles based on the blast pile boundary map.

[0096] Similar to step S102, for each position coordinate that the vehicle passes through during the reversing process (that is, each position coordinate in the coordinate queue List_0), a ray extending outward from that position coordinate can be emitted at a preset angle interval.

[0097] Taking any one of the rays as an example, if the current grid coordinate's occupancy value in the blast pile boundary map is less than or equal to a preset first occupancy threshold, the ray continues to extend outward. If the current grid coordinate's occupancy value in the blast pile boundary map is greater than the first occupancy threshold, the current grid coordinate can be taken as the starting point of the newly appearing impassable area due to blast pile encroachment. At this time, the distance from the current grid coordinate to the original blast pile boundary along the ray direction can be determined (denoted as L0). If the distance L0 is greater than or equal to the preset distance threshold, it indicates that the change in the degree of blast pile encroachment is too large, and its credibility is low, so it is not accepted. If the distance L0 is less than the distance threshold, it indicates that the change in the degree of blast pile encroachment is small, and its credibility is high, so it can be accepted. At this time, the grid coordinates from the current grid coordinate to the original blast pile boundary along the ray direction can be added to the coordinate set of the impassable area. The specific value of the distance threshold can be set according to the actual situation. For example, it can be set to 5 meters, 8 meters, 10 meters, or other values. This application embodiment does not specifically limit this.

[0098] By traversing each ray extending outward from a given location coordinate in the manner described above, the impassable areas corresponding to all viewpoints of that location coordinate can be determined. By traversing each location coordinate again, the impassable areas corresponding to all viewpoints of all location coordinates during the vehicle's movement can be determined. Based on this, a more realistic blasting boundary can be obtained.

[0099] Furthermore, after obtaining the coordinate sets of traversable areas and impassable areas, the two can be compared. If a coordinate belongs to both the coordinate set of traversable areas and the coordinate set of impassable areas, it can be deleted from the coordinate set of impassable areas to eliminate the problem of classifying traversable areas as impassable areas due to different perspectives.

[0100] Step S104: Merge the passable area, the impassable area and the original blast pile boundary to obtain the updated blast pile boundary.

[0101] In one specific implementation of this application, the passable area can be first merged with the original blast pile boundary to obtain the expanded blast pile boundary, and then the impassable area can be merged with the expanded blast pile boundary to obtain the updated blast pile boundary.

[0102] As the excavator excavates the blast pile, part of the blast pile boundary expands outwards with the progress of excavation. However, due to the limited field of vision of the vehicle and obstructions, gaps may appear in the passable area, resulting in discrepancies with the actual situation. Therefore, this embodiment does not simply replace the original blast pile boundary, but rather merges the passable area with the original blast pile boundary. Specifically, a new raster map (denoted as map_free) can be constructed. The original blast pile boundary is transformed into the coordinate system of the raster map_free. The occupancy values ​​of the raster coordinates within the original blast pile boundary in the raster map_free are all set to preset specific values. The occupancy value of each raster coordinate corresponding to the coordinate set List_free of the passable area in the raster map_free is also set to the same specific value. At this point, the boundary of the area formed by all raster coordinates with occupancy values ​​of the specific value is the expanded blast pile boundary obtained by merging the passable area with the original blast pile boundary. The specific value of a particular numerical value can be set according to the actual situation. For example, it can be set to 5, 8, 10 or other values. This application embodiment does not make specific limitations on this.

[0103] Building upon the expanded blast pile boundary, impassable areas can be further merged with it. Specifically, the occupancy value of each grid coordinate corresponding to the coordinate set of impassable areas in the raster map `map_free` can be set to 0, thus removing impassable areas from `map_free`. The boundary of the area formed by all grid coordinates with occupancy values ​​of this specific value is then the boundary obtained by merging the impassable areas with the expanded blast pile boundary. Transforming this boundary to the world coordinate system yields the final updated blast pile boundary.

[0104] To facilitate understanding, the following will use specific examples to illustrate the update process of the burst heap boundary. Figure 3 The diagram illustrates a typical scenario of boundary changes in a blast pile. On one hand, due to excavation by the excavator, part of the blast pile boundary expands outward, forming a new passable area. On the other hand, due to blasting operations on the ore, part of the blast pile boundary contracts inward, forming a new impassable area. Merging the passable area with the original blast pile boundary yields the following... Figure 4 The extended blast pile boundary is shown. Merging the impassable area with the extended blast pile boundary yields the following result: Figure 5 The updated burst heap boundary is shown.

[0105] In another specific implementation of this application, the impassable area can be first merged with the original blast pile boundary to obtain the shrinking blast pile boundary, and then the passable area can be merged with the shrinking blast pile boundary to obtain the updated blast pile boundary. Compared with the previous specific implementation, only the merging order has changed; the merging process is still similar to the previous specific implementation, as detailed in the above description, and will not be repeated here.

[0106] In the above process, the original blast pile boundary is not simply replaced, but the passable area and the impassable area are organically integrated with the original blast pile boundary. This makes full use of the original blast pile boundary and makes the final updated blast pile boundary more realistic and reliable.

[0107] After obtaining the updated burst boundary, it can be sent to the vehicle's planning module for autonomous planning. Alternatively, the updated burst boundary can be uploaded to a cloud server or stored in the vehicle's own storage for future use. Simply put, when the burst boundary is updated again, the updated burst boundary stored on the cloud server or in the vehicle's own storage will be used as the original burst boundary. This process of continuous updating and iteration achieves real-time updates to the burst boundary.

[0108] In summary, this embodiment of the application constructs a ground map and a blast pile boundary map based on the vehicle's LiDAR point cloud data during the reversing process. The passable area of ​​the vehicle is determined based on the ground map and the blast pile boundary map; the impassable area of ​​the vehicle is determined based on the blast pile boundary map; and the passable and impassable areas are merged with the original blast pile boundary to obtain an updated blast pile boundary. Through this embodiment, the original blast pile boundary can be updated based on real-time LiDAR point cloud data during the reversing process, resulting in a reliable updated blast pile boundary. This effectively avoids the interference of outdated blast pile boundaries on the normal operation of the vehicle, enabling the vehicle to accurately park on the blast pile.

[0109] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0110] Corresponding to the burst heap boundary update method described in the above embodiments, Figure 6 This illustration shows a structural diagram of one embodiment of a blasting pile boundary update device provided in this application.

[0111] In this embodiment, a blast pile boundary updating device may include:

[0112] The map building module 601 is used to build a ground map and a blast pile boundary map respectively based on the vehicle's lidar point cloud data during the process of the vehicle reversing towards the blast pile boundary.

[0113] The passable area determination module 602 is used to determine the passable area of ​​the vehicle based on the ground map and the blast pile boundary map;

[0114] The impassable area determination module 603 is used to determine the impassable area of ​​the vehicle based on the blast pile boundary map;

[0115] The blast pile boundary fusion module 604 is used to fuse the passable area, the impassable area and the original blast pile boundary to obtain an updated blast pile boundary.

[0116] In one specific implementation of this application embodiment, the map building module may include:

[0117] The point cloud determination unit is used to determine the ground point cloud and the blast pile boundary point cloud for each frame of lidar point cloud data.

[0118] A ground map construction unit is used to project the ground point cloud onto a preset first grid map to construct the ground map;

[0119] The blast pile boundary map construction unit is used to project the blast pile boundary point cloud onto a preset second grid map to construct the blast pile boundary map.

[0120] In one specific implementation of this application, the passable area determination module can be specifically used to: for each position coordinate passed by the vehicle during reversing, emit rays extending outward from the position coordinates at preset angular intervals; if the current grid coordinate's occupancy value in the blast pile boundary map is less than or equal to a preset first occupancy threshold, then save the current grid coordinate and continue extending the ray outward; wherein, the current grid coordinate is the grid coordinate to which the ray currently extends; if the current grid coordinate's occupancy value in the blast pile boundary map is greater than the first occupancy threshold, then stop the ray's extension and add the saved grid coordinate to the coordinate set of the passable area.

[0121] In one specific implementation of this application, the passable area determination module can also be used to: if the ray has extended to a preset maximum distance, delete the saved grid coordinates and re-emit the ray extending outward from the position coordinates; if the current grid coordinate's occupancy value in the ground map is greater than or equal to a preset second occupancy threshold, save the current grid coordinates and continue extending the ray outward; if the current grid coordinate's occupancy value in the ground map is less than the second occupancy threshold, stop the ray's extension and add the saved grid coordinates to the coordinate set of the passable area.

[0122] In one specific implementation of this application, the impassable area determination module can be specifically used to: for each position coordinate passed by the vehicle during reversing, emit rays extending outward from the position coordinates at preset angular intervals; if the current grid coordinate's occupancy value in the blast pile boundary map is less than or equal to a preset first occupancy threshold, then extend the ray outward further; wherein, the current grid coordinate is the grid coordinate to which the ray currently extends; if the current grid coordinate's occupancy value in the blast pile boundary map is greater than the first occupancy threshold, then determine the distance from the current grid coordinate to the original blast pile boundary along the ray direction; if the distance is less than a preset distance threshold, then add the grid coordinate from the current grid coordinate to the original blast pile boundary along the ray direction to the coordinate set of the impassable area.

[0123] In one specific implementation of this application, the blast pile boundary fusion module can be specifically used to: fuse the passable area with the original blast pile boundary to obtain an expanded blast pile boundary; and fuse the impassable area with the expanded blast pile boundary to obtain the updated blast pile boundary.

[0124] In one specific implementation of this application, the blast pile boundary fusion module can be specifically used to: fuse the impassable area with the original blast pile boundary to obtain a contracted blast pile boundary; and fuse the passable area with the contracted blast pile boundary to obtain the updated blast pile boundary.

[0125] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0126] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0127] Figure 7A schematic block diagram of a vehicle provided in an embodiment of this application is shown. For ease of explanation, only the parts related to the embodiment of this application are shown.

[0128] like Figure 7 As shown, the vehicle 7 in this embodiment includes: a processor 70, a memory 71, and a computer program 72 stored in the memory 71 and executable on the processor 70. When the processor 70 executes the computer program 72, it implements the steps in the various embodiments of the burst-bomb boundary update method described above, for example... Figure 1 Steps S101 to S104 are shown. Alternatively, when the processor 70 executes the computer program 72, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 6 The functions of modules 601 to 604 are shown.

[0129] For example, the computer program 72 may be divided into one or more modules / units, which are stored in the memory 71 and executed by the processor 70 to complete this application. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program 72 in the vehicle 7.

[0130] Those skilled in the art will understand that Figure 7 This is merely an example of vehicle 7 and does not constitute a limitation on vehicle 7. It may include more or fewer components than shown, or combine certain components, or different components. For example, vehicle 7 may also include input / output devices, network access devices, buses, etc.

[0131] The processor 70 can be a Central Processing Unit (CPU), or other general-purpose processors, 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, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0132] The memory 71 can be an internal storage unit of the vehicle 7, such as a hard drive or memory. The memory 71 can also be an external storage device of the vehicle 7, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc., installed on the vehicle 7. Furthermore, the memory 71 can include both internal and external storage units of the vehicle 7. The memory 71 is used to store the computer program and other programs and data required by the vehicle 7. The memory 71 can also be used to temporarily store data that has been output or will be output.

[0133] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0134] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0135] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0136] In the embodiments provided in this application, it should be understood that the disclosed devices / vehicles and methods can be implemented in other ways. For example, the device / vehicle embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0137] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0138] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0139] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable storage medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content included in the computer-readable storage medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0140] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for updating the boundary of a bursty heap, characterized in that, include: During the process of the vehicle reversing towards the boundary of the blast pile, a ground map and a blast pile boundary map are constructed based on the vehicle's lidar point cloud data. The passable area of ​​the vehicle is determined based on the ground map and the blast pile boundary map; The impassable area for the vehicle is determined based on the boundary map of the blast pile; The passable area, the impassable area, and the original blast pile boundary are merged to obtain the updated blast pile boundary.

2. The method for updating the boundary of a burst pile according to claim 1, characterized in that, The construction of a ground map and a blast pile boundary map based on the vehicle's lidar point cloud data includes: For each frame of lidar point cloud data, the ground point cloud and the blast pile boundary point cloud are determined separately. The ground point cloud is projected onto a preset first grid map to construct the ground map; The point cloud of the blast pile boundary is projected onto a preset second grid map to construct the blast pile boundary map.

3. The method for updating the burst pile boundary according to claim 1, characterized in that, The step of determining the passable area of ​​the vehicle based on the ground map and the blast pile boundary map includes: For each coordinate position the vehicle passes through during reversing, rays extending outward from the coordinate position are emitted at preset angular intervals; If the current grid coordinate's occupancy value in the blast pile boundary map is less than or equal to a preset first occupancy threshold, then the current grid coordinate is saved, and the ray continues to extend outward; where the current grid coordinate is the grid coordinate to which the ray currently extends. If the current grid coordinate occupancy value in the blast pile boundary map is greater than the first occupancy threshold, then the extension of the ray is stopped, and the saved grid coordinates are added to the coordinate set of the passable area.

4. The method for updating the burst pile boundary according to claim 3, characterized in that, Also includes: If the ray has extended to the preset maximum distance, delete the saved grid coordinates and re-emit the ray extending outward from the said position coordinates; If the current grid coordinate's occupancy value in the ground map is greater than or equal to a preset second occupancy threshold, then the current grid coordinate is saved, and the ray continues to extend outward. If the current grid coordinate's occupancy value in the ground map is less than the second occupancy threshold, then the extension of the ray is stopped, and the saved grid coordinates are added to the coordinate set of the passable area.

5. The method for updating the burst pile boundary according to claim 1, characterized in that, The step of determining the impassable area for the vehicle based on the blast pile boundary map includes: For each coordinate position the vehicle passes through during reversing, rays extending outward from the coordinate position are emitted at preset angular intervals; If the current grid coordinate's occupancy value in the blast pile boundary map is less than or equal to a preset first occupancy threshold, the ray will continue to extend outward; where the current grid coordinate is the grid coordinate to which the ray currently extends. If the current grid coordinate's occupancy value in the blast pile boundary map is greater than the first occupancy threshold, then the distance from the current grid coordinate to the original blast pile boundary along the ray direction is determined; If the distance is less than a preset distance threshold, the grid coordinates from the current grid coordinates to the original blast pile boundary along the ray direction will be added to the coordinate set of the impassable area.

6. The method for updating the boundary of a blast pile according to any one of claims 1 to 5, characterized in that, The step of merging the passable area, the impassable area, and the original blast pile boundary to obtain the updated blast pile boundary includes: The passable area is merged with the original blast pile boundary to obtain the expanded blast pile boundary; The impassable area is merged with the expanded blast pile boundary to obtain the updated blast pile boundary.

7. The method for updating the boundary of a blast pile according to any one of claims 1 to 5, characterized in that, The step of merging the passable area, the impassable area, and the original blast pile boundary to obtain the updated blast pile boundary includes: The impassable area is merged with the original blast pile boundary to obtain the inward blast pile boundary; The passable area is merged with the inner shrinkage blast pile boundary to obtain the updated blast pile boundary.

8. A device for updating the boundary of a blast pile, characterized in that, include: The map building module is used to build a ground map and a blast pile boundary map based on the vehicle's lidar point cloud data during the process of the vehicle reversing towards the blast pile boundary. The passable area determination module is used to determine the passable area of ​​the vehicle based on the ground map and the blast pile boundary map; The impassable area determination module is used to determine the impassable area of ​​the vehicle based on the blast pile boundary map; The blast pile boundary fusion module is used to merge the passable area, the impassable area and the original blast pile boundary to obtain the updated blast pile boundary.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the burst pile boundary update method as described in any one of claims 1 to 7.

10. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the burst pile boundary update method as described in any one of claims 1 to 7.

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