A method, apparatus, equipment and storage medium for managing spoil heap maps

Abstract

This invention discloses a method, apparatus, equipment, and storage medium for managing spoil heap maps. By collecting location and movement data of operating vehicles during operation, the spoil heap map, retaining wall positions, and unloading location information are dynamically updated. This solves the technical problems of insufficient reliability of laser sensing due to dust interference and low efficiency of manual retaining wall positioning in existing unmanned mining truck spoil heap operations. By simultaneously collecting terrain and retaining wall data during vehicle operation, production and measurement are integrated, reducing data acquisition costs. Flatness detection effectively filters out positioning errors caused by uneven terrain, ensuring map accuracy. Dynamic map updates and maintenance of unloading locations enable automatic switching of unloading location status, improving the overall turnover efficiency of the spoil heap.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a method, apparatus, equipment and storage medium for managing spoil heap maps. Background Technology

[0002] A spoil heap is a dedicated site in open-pit mining for storing stripped topsoil and rock. Its structure typically includes a conveyor belt, a shunting belt, and an unloading belt, with retaining walls built along the edges of the unloading belt as critical safety features. In traditional operations, manned vehicles rely on driver experience to determine the unloading location. With the development of autonomous driving technology, automated driving of mining trucks is becoming a trend, but the dynamic uncertainties of the spoil heap environment pose significant challenges to vehicle positioning and path planning.

[0003] In existing technologies, the positioning of unmanned mining trucks in spoil heaps mainly relies on two methods: one is based on real-time perception using onboard LiDAR, which achieves reversing positioning by scanning the retaining wall behind the vehicle; the other is to use a map data collection vehicle to pre-map the spoil heap terrain, manually mark the retaining wall positions, and then import the data into the system. These two methods can be combined to improve reliability. In terms of the operational process, the transport vehicle enters the spoil heap along the conveyor belt, reverses to the unloading belt after turning at the shunting belt, and lifts the cargo box to unload the soil once the retaining wall position is detected. After unloading, the vehicle drives away, and a bulldozer or loader subsequently levels and maintains the unloading area and the retaining wall.

[0004] In existing technologies, the accuracy of lidar sensing drops sharply in dusty unloading environments, leading to insufficient positioning reliability. Similarly, pre-collected maps are inefficient and cannot adapt to the dynamic changes of continuously expanding dump lines, requiring frequent manual updates of retaining wall coordinates. Both methods suffer from data lag, failing to reflect real-time changes in the site after operations, directly impacting the unloading safety and operational efficiency of unmanned mining trucks. Summary of the Invention

[0005] This invention provides a method, device, equipment, and storage medium for managing spoil heap maps. By collecting location and action data of operating vehicles during operation, it dynamically updates spoil heap maps, retaining wall locations, and unloading position information, solving the technical problems of insufficient reliability of laser sensing due to dust interference and low efficiency of manual marking of retaining wall locations in existing unmanned mining truck spoil heap operations.

[0006] According to one aspect of the present invention, a method for managing spoil heap maps is provided, the method comprising:

[0007] During the operation of vehicles at the spoil heap, topographical data of the spoil heap and data related to the retaining walls are collected;

[0008] The flatness of the spoil heap is checked. When the flatness is qualified, a spoil heap map is generated based on the spoil heap topography data and retaining wall related data.

[0009] During the continuous operation of the work vehicles, data is collected and updated synchronously. The spoil heap map is dynamically updated based on the updated data. Based on the dynamically updated spoil heap map, unloading positions are generated, allocated, and maintained.

[0010] Optionally, the following steps are taken: collecting topographic data of the spoil heap and data related to the retaining wall, including: obtaining the operating range of the operating vehicle and determining the spoil heap area based on the operating range; monitoring the vehicle's posture in real time using positioning equipment, and obtaining spoil heap topographic data by combining the spoil heap area and vehicle posture; identifying the operating mode of the operating vehicle, and when the operating mode is identified as retaining wall operation, recording the vehicle's position data in real time using positioning equipment, and synchronously recording the vehicle's motion parameters using motion detection sensors, including the relative rotation angles between the front and rear frames, the boom lifting angle, and the relative rotation angles between the bucket and the boom; and using the position data, vehicle posture, and motion parameters as retaining wall related data.

[0011] Optionally, the flatness of the spoil heap can be detected, including: real-time monitoring of the pitch and roll angles of the operating vehicles, and obtaining the preset angle thresholds corresponding to the pitch and roll angles; when the pitch and roll angles do not exceed the corresponding preset angle thresholds, the flatness of the spoil heap in the corresponding area is determined to be qualified; otherwise, the flatness of the spoil heap in the corresponding area is determined to be unqualified, and the corresponding area is marked as a leveling area or a restricted area.

[0012] Optionally, a spoil heap map is generated based on spoil heap topographic data and retaining wall related data, including: preprocessing the spoil heap topographic data, marking the terrain distribution and flatness of the spoil heap, forming complete topographic base data; converting the location data into geocentric Cartesian coordinates to obtain transformed location coordinates; obtaining preset vehicle structure parameters, substituting the transformed location coordinates, motion parameters, and vehicle structure parameters into a preset retaining wall positioning algorithm to obtain the retaining wall position and height; and merging the topographic base data with the retaining wall position and height to construct a spoil heap map.

[0013] Optionally, the spoil heap map is dynamically updated based on the updated data, including: updating the spoil heap range and labels with the newly added terrain data in the updated data; and substituting the updated retaining wall data in the updated data into a preset retaining wall positioning algorithm to calculate the updated retaining wall position and height.

[0014] Optionally, based on a dynamically updated spoil heap map, unloading positions are generated, allocated, and maintained, including: based on the dynamically updated spoil heap map, determining the initial location and range of each unloading position and completing the generation of unloading positions; when a transport vehicle is detected to be heavily loaded and heading to the spoil heap, querying the current status of each unloading position in real time and filtering out target unloading positions with available status; allocating the target unloading position to the transport vehicle and changing the unloading position status of the target unloading position from available to occupied; after the transport vehicle completes unloading and leaves the target unloading position, changing the unloading position status of the target unloading position from occupied to pending maintenance.

[0015] Optionally, the method also includes: designating unloading positions in the pending maintenance state as areas to be maintained; dispatching work vehicles from the spoil heap to perform leveling work on the areas to be maintained; and changing the status of the unloading positions in the areas to be maintained from pending maintenance state to available state after the flatness of the areas to be maintained has been tested and found to be qualified.

[0016] According to another aspect of the present invention, a spoil heap map management device is provided, the device comprising:

[0017] The map-related data acquisition module is used to collect terrain data and retaining wall-related data of the spoil heap during the operation of vehicles at the spoil heap.

[0018] The spoil heap map generation module is used to detect the flatness of the spoil heap ground. When the flatness is qualified, it generates a spoil heap map based on the spoil heap terrain data and retaining wall related data.

[0019] The unloading position maintenance module is used to synchronously collect and update data during the continuous operation of the work vehicle, dynamically update the spoil heap map based on the updated data, and generate, allocate and maintain unloading positions based on the dynamically updated spoil heap map.

[0020] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0021] At least one processor;

[0022] and a memory communicatively connected to the at least one processor;

[0023] The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform a spoil heap map management method according to any embodiment of the present invention.

[0024] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions, the computer instructions being configured to cause a processor to execute and implement a spoil heap map management method according to any embodiment of the present invention.

[0025] The technical solution of this invention integrates production and measurement by simultaneously collecting terrain and retaining wall data during the operation of the work vehicles, thereby reducing data acquisition costs. Flatness detection effectively guides the operation of vehicles at the spoil heap, ensuring the smooth operation of heavy-duty vehicles and improving the safety of spoil heap operations. Dynamically updating the map and maintaining the unloading positions enables automatic switching of unloading position status, improving the overall turnover efficiency of the spoil heap.

[0026] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a flowchart of a spoil heap map management method provided in Embodiment 1 of the present invention;

[0029] Figure 2 This is a schematic diagram of the geometric relationship of the parameters of a spoil heap operation vehicle provided according to Embodiment 1 of the present invention;

[0030] Figure 3 This is a flowchart of another spoil heap map management method provided in Embodiment 2 of the present invention;

[0031] Figure 4 This is a flowchart of a dynamic closed-loop management system for spoil heap maps provided according to Embodiment 2 of the present invention;

[0032] Figure 5 This is a schematic diagram of the structure of a spoil heap map management device provided in Embodiment 3 of the present invention;

[0033] Figure 6 This is a schematic diagram of the structure of an electronic device that implements a spoil heap map management method according to an embodiment of the present invention. Detailed Implementation

[0034] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0035] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0036] Example 1

[0037] Figure 1 This is a flowchart illustrating a spoil heap map management method according to Embodiment 1 of the present invention. This embodiment is applicable to unmanned spoil heap scenarios. The method can be executed by a spoil heap map management device, which can be implemented in hardware and / or software and can be configured in a computer controller. Figure 1 As shown, the method includes:

[0038] S110. During the operation of vehicles at the spoil heap, collect topographic data of the spoil heap and related data of the retaining wall.

[0039] Among them, spoil heap operation vehicles refer to engineering vehicles, mainly bulldozers or loaders, that undertake site maintenance and retaining wall construction work in spoil heaps. The operation process includes leveling the spoil heap surface, constructing and extending retaining walls outwards, and maintaining unloading positions. These vehicles are the direct carriers of topographic data and retaining wall-related data. A spoil heap is a site specifically used in open-pit mining for stockpiling topsoil and rock. The topsoil and rock cover the upper part and surrounding area of ​​the ore body and need to be stripped and removed before mining. The spoil heap structure is typically divided into a driving lane, a shunting lane, and an unloading lane. Retaining walls are installed at the edges of the unloading lanes as safety facilities, and the operating area expands outwards continuously during the spoil heap process. Topographic data refers to key information reflecting the geographical characteristics of the spoil heap, including the extent of the spoil heap, terrain flatness, and elevation data, which is the basis for generating and updating spoil heap maps. Retaining walls are the dynamic boundaries of the spoil heap and the extreme positions for transport vehicles to reverse and unload, directly affecting the safety of spoil heap operations.

[0040] Optionally, the following steps are taken: collecting topographic data of the spoil heap and data related to the retaining wall, including: obtaining the operating range of the operating vehicle and determining the spoil heap area based on the operating range; monitoring the vehicle's posture in real time using positioning equipment, and obtaining spoil heap topographic data by combining the spoil heap area and vehicle posture; identifying the operating mode of the operating vehicle, and when the operating mode is identified as retaining wall operation, recording the vehicle's position data in real time using positioning equipment, and synchronously recording the vehicle's motion parameters using motion detection sensors, including the relative rotation angles between the front and rear frames, the boom lifting angle, and the relative rotation angles between the bucket and the boom; and using the position data, vehicle posture, and motion parameters as retaining wall related data.

[0041] It is known that the vehicles operating at the spoil heap will traverse all areas of the spoil heap for leveling and retaining wall maintenance throughout the entire work cycle. This motion characteristic forms the basis of the data collection logic. In practice, a high-precision GPS / BeiDou differential positioning device is installed above the driver's cab of the vehicle. The positioning device continuously outputs the vehicle's longitude, latitude, and elevation three-dimensional coordinates, as well as attitude and motion information such as pitch, roll, and yaw angles, several times per second. As the vehicle moves, its positioning trajectory point cloud gradually forms a spatial data set covering the entire spoil heap. The cloud-based map maintenance subsystem receives this trajectory data in real time and extracts the extreme boundary points of the vehicle's motion using clustering algorithms. The convex hull or polygonal area formed by these boundary points represents the actual operating range of the spoil heap. As the spoil heap expands with production, the natural motion trajectory of the vehicles automatically updates the boundary data, achieving dynamic adaptive determination of the spoil heap's range. Furthermore, the high-precision positioning device not only acquires the vehicle's position but also monitors the vehicle's attitude in real time, including pitch and roll angles. The flatness of the spoil heap surface directly affects the vehicle's posture. When a vehicle is driving or operating on a flat surface, its pitch and roll angles will be within a set reasonable threshold range. When there are uneven surfaces such as bumps or depressions, the vehicle will tilt accordingly, causing the pitch or roll angles to exceed the threshold.

[0042] Specifically, the operation mode of the working vehicles constructing and maintaining retaining walls has clear and fixed characteristics. Whether in the initial stage of retaining wall construction or the stage of maintenance and renewal, the core action is to push the vehicle to the boundary, then lift the bucket and dump the waste. The spoil heap map management system will comprehensively determine whether the working vehicle is in retaining wall operation mode based on its movement direction, position changes, and preliminary action data. Once identified as retaining wall operation, high-precision positioning equipment will continuously record the position data of the working vehicle in real time, while motion detection sensors will simultaneously collect key action parameters. These parameters include the relative rotation angles of the front and rear frames, the boom lifting angle, and the relative rotation angles of the bucket and boom, which accurately reflect the mechanical posture of the vehicle during operation and serve as the basis for calculating the position and height of the retaining wall. Finally, the system will integrate the position data of the working vehicle during retaining wall operation, the real-time monitored vehicle posture, and the action parameters recorded by the motion detection sensors into retaining wall-related data, providing complete and accurate raw data support for subsequent calculation of the retaining wall position and height and updating the spoil heap map.

[0043] S120. Check the flatness of the spoil heap. When the flatness is qualified, generate a spoil heap map based on the spoil heap topography data and retaining wall related data.

[0044] The flatness of the spoil heap refers to the smoothness of the spoil heap surface, which is determined by detecting the pitch and roll angles of the vehicle using high-precision positioning equipment mounted on the work vehicle. When the pitch or roll angle exceeds a set threshold, it indicates that the flatness of the surface is unqualified, and the work vehicle needs to perform leveling maintenance. The spoil heap map is a digital map generated and maintained by the spoil heap map management system. It includes information such as the spoil heap area, terrain flatness, the location and height of retaining walls, and the distribution and status of unloading positions. It serves as the basis for guiding the spoil heap operations of unmanned transport vehicles, and the spoil heap map is dynamically updated during the operation.

[0045] Optionally, the flatness of the spoil heap can be detected, including: real-time monitoring of the pitch and roll angles of the operating vehicles, and obtaining the preset angle thresholds corresponding to the pitch and roll angles; when the pitch and roll angles do not exceed the corresponding preset angle thresholds, the flatness of the spoil heap in the corresponding area is determined to be qualified; otherwise, the flatness of the spoil heap in the corresponding area is determined to be unqualified, and the corresponding area is marked as a leveling area or a restricted area.

[0046] Specifically, when the work vehicle is moving within the spoil heap, the positioning equipment continuously monitors the vehicle's pitch and roll angles. These two angle parameters directly reflect the ground slope at the vehicle's location. The system sets angle thresholds, such as a pitch angle exceeding 5 degrees or a roll angle exceeding 3 degrees. When the real-time monitored values ​​exceed the thresholds, it is determined that the location has significant unevenness or an abnormal slope. At this time, the system will mark the coordinate point as a leveling area or a restricted area and issue visual and voice prompts to the driver through the interactive device in the cab, guiding him to carry out targeted leveling operations. During the leveling process, the vehicle continuously moves back and forth, and the positioning system continuously records the attitude data changes of the area. When the pitch and roll angles fall back to within the threshold range and remain stable, it indicates that the ground has met the leveling requirements.

[0047] Optionally, a spoil heap map is generated based on the spoil heap topographic data and retaining wall related data, including: preprocessing the spoil heap topographic data, marking the terrain distribution and flatness of the spoil heap, forming complete basic topographic data; converting the location data into geocentric Cartesian coordinates to obtain the transformed location coordinates; obtaining preset vehicle structure parameters, and substituting the transformed location coordinates, motion parameters, and vehicle structure parameters into a preset retaining wall positioning algorithm to obtain the retaining wall position and retaining wall height.

[0048] The formation of terrain baseline data begins with the continuous output of vehicle trajectory streams from onboard positioning equipment. High-precision GPS / BeiDou differential positioning devices record the three-dimensional coordinates of the operating vehicles at a frequency of 5 to 10 Hz, while the built-in attitude measurement unit simultaneously outputs the vehicle's pitch and roll angles. After receiving this data, the cloud system first performs timestamp alignment and noise filtering to remove anomalies caused by signal obstruction or sensor jumps. The preprocessed trajectory point cloud constitutes a discretized spatial sample of the spoil heap. Terrain distribution labeling employs a statistically based regional division method. The system clusters all trajectory points according to their spatial neighborhoods, forming several local regions. The root mean square (RMS) value is calculated for the pitch and roll angle data within each region, quantifying the average slope of the ground. If the RMS slope of a region is less than 3 degrees, it is marked as a flat area; between 3 and 8 degrees, it is marked as a gentle slope area; and exceeding 8 degrees, it is marked as a steep slope restricted area. Simultaneously, the system records the dwell time and frequency of vehicles within each spatial unit. Areas with low frequency correspond to the core working zone of the spoil heap, while areas with low frequency also correspond to the leveled areas within the spoil heap. As the movement range of the vehicles expands, the terrain markings are automatically updated outwards, forming basic terrain data that evolves in sync with production.

[0049] In one specific implementation, retaining wall positioning requires spatial geometric calculations in a geocentric Cartesian coordinate system. Therefore, the latitude, longitude, and elevation data collected by the positioning equipment must be converted from the WGS84 ellipsoid model to geocentric Cartesian coordinates. The conversion process uses the WGS84 ellipsoid parameters as a standard. First, based on the latitude of a high-precision positioning point on the work vehicle, such as point A above the loader's cab, the radius of curvature of the ramus sign is calculated. Then, substituting these values ​​into a preset formula, the ECEF coordinates of the positioning point are calculated, completing the conversion from geographic coordinates to geocentric Cartesian coordinates and obtaining the converted position coordinates. Figure 2 This invention provides a schematic diagram of the geometric relationship of vehicle parameters for spoil heap operations, as shown in Embodiment 1. Figure 2 In the diagram, point A, located above the loader's cab, is the installation position of the GPS / BeiDou differential positioning antenna, designed to be concentric with the hinge axes of the front and rear frames. This point directly outputs high-precision longitude, latitude, elevation, and vehicle attitude data, serving as the reference origin for the entire positioning calculation. Point B is the midpoint of the boom's left and right hinge points, representing the connection hub between the boom and the frame. Point C is the midpoint of the bucket's hinges with the left and right booms, serving as the joint center for bucket movement. Point D is the geometric midpoint of the bucket's lower edge, the working endpoint directly contacting the ground and retaining wall; its trajectory directly depicts the contour of the retaining wall, with the arrow indicating the bucket's movement direction. Fixed parameters include the known lengths of the three structural segments AB, BC, and CD. , and The angle between the line AB and the hinge axes of the front and rear frames is determined by the mechanical dimensions of the loader. Angle is a vehicle-specific constant. Dynamic parameters are collected in real time via onboard angle sensors. It represents the relative angle between the front and rear frames, reflecting the vehicle's steering state; The angle between the lines AB and BC represents the lifting height of the boom. The angle between lines BC and CD represents the bucket's tilting motion. Essentially, this geometric model abstracts the loader as a spatial linkage mechanism, achieved by measuring the absolute coordinates of point A and the angles of the three joints. , and The geographic coordinates of the final execution point D are calculated in reverse. The calculation process consists of three steps: First, the spatial offset of point D relative to point A is solved in the local coordinate system using the law of cosines and the trigonometric function chain. , , ), where the vertical component The offset is directly correlated with the height of the retaining wall; then the offset is converted to the geocentric Cartesian coordinate system; finally, the ECEF coordinates are converted back to geographic coordinates through an iterative algorithm to obtain the precise latitude, longitude and elevation of point D.

[0050] For example, the geographical coordinates of location A are set as longitude. ,latitude Elevation First, calculate the radius of curvature of the ramusoidal circle at that point using the following formula (1):

[0051] (1)

[0052] in, The length is 6,378,137.0 meters, representing the Earth's semi-major axis. The value is 0.00669437999014, representing the square of the first eccentricity. Represents the latitude of location point A. The radius of curvature of the ramusoidal circle represents the location point A. Then, the ECEF three-dimensional coordinates of point A are calculated using the following formula (2):

[0053] (2)

[0054] in, , and These represent the X, Y, and Z axis coordinates of point A in the geocentric Cartesian coordinate system, respectively; that is, the transformed coordinates of point A. This represents the elevation of location point A. This represents the longitude of location point A. Represents the latitude of location point A. e represents the radius of curvature of the tropomorphic circle at point A.2 The value is 0.00669437999014, representing the square of the first eccentricity. This transformation maps the surface coordinates of the Earth to a rectangular coordinate system with the Earth's center as the origin, laying the foundation for subsequent spatial vector operations. All position data collected during the retaining wall operation undergoes this transformation, forming a continuous geocentric coordinate sequence. The retaining wall position and height are obtained by tracking the spatial trajectory of point D on the lower edge of the bucket; therefore, inverse kinematics calculation is required, combining vehicle structural parameters and real-time motion parameters. The geometric core of the algorithm is to abstract the loader as a spatial linkage mechanism. The calculation is divided into three stages. The first stage solves for the horizontal and vertical offsets of point D relative to positioning point A. In triangle BCD, the two sides are known... , and its included angle The length of BD can be obtained using the law of cosines. The following formula (3) is used:

[0055] (3)

[0056] in, represent Figure 2 The length of the BD structural component , and They represent as Figure 2 Given the lengths of the three structural segments AB, BC, and CD, then in triangle ABD, given the side lengths... , And the included angle obtained through angular relationships. ,Right now ,in, Based on the geometric relationship of triangle BCD, the following formula (4) is used:

[0057] (4)

[0058] in, represent Figure 2 The length of the BD structural component , and They represent as Figure 2 The known lengths of the three structural segments AB, BC, and CD are given. It represents the included angle at the middle of triangle BCD.

[0059] Then, the length of AD is obtained by applying the law of cosines again. and included angle The following formulas (5) and (6) are used: (5)

[0060] (6)

[0061] in, and represent Figure 2 The lengths of the BD and AD structural components, , and They represent as Figure 2 The known lengths of the three structural segments AB, BC, and CD are given. This represents the included angle at the midpoint of triangle ABD. This represents the angle between AD and AB in triangle ABD. The second stage establishes a local northeast-north celestial coordinate system, decomposing the distance AD ​​into east, north, and celestial components. The celestial offset of point D relative to point A is also considered. = The eastward offset of point D relative to point A = The northward offset of point D relative to point A. = Among them, the vertical component Directly corresponding to the height of the retaining wall, in the third stage, the East North Up (ENU) coordinates are converted back to Cartesian coordinates. First, the offset vector of ENU in the Cartesian coordinate system is calculated, as shown in the following formula (7):

[0062] (7)

[0063] in, , and These represent the Cartesian coordinate increments of point D relative to point A on the X, Y, and Z axes, respectively. This represents the longitude of location point A. Represents the latitude of location point A. , and These represent the offsets of point D relative to point A in the north, east, and sky directions, respectively. The Cartesian coordinates of point D are shown in (8):

[0064] (8)

[0065] in, , and These represent the X, Y, and Z coordinates of point D in the geocentric Cartesian coordinate system, respectively. , and These represent the X, Y, and Z coordinates of point A in the geocentric Cartesian coordinate system. , and Let X and Y represent the Cartesian coordinate increments of point D relative to point A on the X, Y, and Z axes, respectively. Finally, the Cartesian coordinates of point D are converted to geographic coordinates using an iterative algorithm: First, the longitude is calculated using the following formula (9):

[0066] (9)

[0067] in, This indicates the longitude of point D. and Let X and Y represent the geocentric Cartesian coordinates of point D. Then, calculate the latitude and elevation. Using an iterative method, first calculate the auxiliary variables, as shown in the following formula (10):

[0068] (10)

[0069] in, Represents auxiliary variables. and Let X and Y represent the Cartesian coordinates of point D, and then perform initial latitude estimation using the following formula (11):

[0070] (11)

[0071] in, Indicates the initial latitude. This represents the Z-axis coordinate value of point D in the geocentric Cartesian coordinate system. Let the auxiliary variable be represented, and then calculate the current radius of curvature of the zonal loop as shown in the following formula (12):

[0072] (12)

[0073] in, This represents the radius of curvature of the ramusoidal loop calculated in the k-th iteration. The length is 6,378,137.0 meters, representing the Earth's semi-major axis. 2 The value is 0.00669437999014, representing the square of the first eccentricity. Let represent the latitude calculated in the k-th iteration, and then calculate the current elevation using the following formula (13):

[0074] (13)

[0075] in, This represents the elevation calculated in the k-th iteration. This represents the radius of curvature of the ramusoidal loop calculated in the k-th iteration. Represents auxiliary variables. Let represent the latitude calculated in the k-th iteration, and then update the latitude iteratively using the following formula (14):

[0076] (14)

[0077] in, This represents the latitude calculated in the (k+1)th iteration. This represents the elevation calculated in the k-th iteration. This represents the radius of curvature of the ramusoidal loop calculated in the k-th iteration. Represents auxiliary variables. This represents the Z-axis coordinate value of point D in the geocentric Cartesian coordinate system. The value is 0.00669437999014, representing the square of the first eccentricity. Repeat the above iterative process until... The convergence process yields the final elevation and latitude, which is the location of the retaining wall.

[0078] S130. During the continuous operation of the work vehicle, synchronously collect and update data, dynamically update the spoil heap map based on the updated data, and generate, allocate and maintain unloading positions based on the dynamically updated spoil heap map.

[0079] Updated data refers to new data collected in real time during continuous operation of the vehicles, including expanded spoil heap area data, newly constructed / maintained retaining wall data, and leveled ground flatness data, to ensure the real-time performance and accuracy of the spoil heap map. Unloading positions are designated areas for transport vehicles to park and dump spoil, determined by the spoil heap terrain and retaining wall locations. These positions need to be planned along the retaining walls, taking into account vehicle size and turning routes, to accommodate more mining trucks. Unloading positions have three states: available, occupied, and pending maintenance, dynamically generated, allocated, and managed by the system.

[0080] Optionally, the spoil heap map is dynamically updated based on the updated data, including: updating the spoil heap range and labels with the newly added terrain data in the updated data; and substituting the updated retaining wall data in the updated data into a preset retaining wall positioning algorithm to calculate the updated retaining wall position and height.

[0081] Specifically, when vehicles operating at a spoil heap conduct new leveling work outside the initial spoil heap area, the trajectory point coordinate stream continuously output by the positioning equipment constitutes new terrain data. Upon receiving this data, the cloud system first removes outliers, such as unreliable points with a positioning accuracy factor greater than 3, and points with jumps caused by signal interruptions. Subsequently, the system performs a spatial inclusion determination between the new trajectory points and the existing spoil heap area. Specifically, the cloud maintains a polygon vertex array representing the current spoil heap boundary. For each new trajectory point, the shortest distance to all edges of the polygon is calculated. If this distance remains greater than 5 meters for more than 10 minutes, and the number of new trajectory points accumulates to more than 50, the system determines that the spoil heap is expanding outwards. At this point, the system performs convex hull calculations on the new trajectory points, extracts extreme boundary points, and merges them into the original polygon vertex array, achieving a geometric expansion of the spoil heap area. This update method, synchronized with production progress, ensures that the map boundary always matches the actual work area. Terrain annotation updates are based on vehicle posture data within the newly added area. It should be noted that the markings made by the system on the map are not static. When the working vehicle re-levels a certain area, the system overwrites the old markings with newly collected attitude data, achieving dynamic updates. The retaining wall data update process is similar. The retaining wall update data includes the position data, vehicle attitude, and motion parameters updated by the working vehicle during retaining wall operation. The system can substitute the retaining wall update data into a preset retaining wall positioning algorithm to calculate the updated retaining wall position and height.

[0082] The technical solution of this invention integrates production and measurement by simultaneously collecting terrain and retaining wall data during the operation of the work vehicle, thereby reducing data acquisition costs. Flatness detection effectively filters out positioning errors caused by uneven terrain, ensuring map accuracy. Dynamic map updates and maintenance of unloading positions enable automatic switching of unloading position status, improving the overall turnover efficiency of the spoil heap.

[0083] Example 2

[0084] Figure 3 This is a flowchart of a spoil heap map management method provided in Embodiment 2 of the present invention. This embodiment adds a specific process for generating, allocating, and maintaining unloading positions based on a dynamically updated spoil heap map, building upon Embodiment 1. The specific content of steps S210-S230 is largely the same as steps S110-S130 in Embodiment 1, and therefore will not be repeated in this embodiment. Figure 3 As shown, the method includes:

[0085] S210. During the operation of vehicles at the spoil heap, collect topographic data of the spoil heap and related data of the retaining wall.

[0086] Optionally, the following steps are taken: collecting topographic data of the spoil heap and data related to the retaining wall, including: obtaining the operating range of the operating vehicle and determining the spoil heap area based on the operating range; monitoring the vehicle's posture in real time using positioning equipment, and obtaining spoil heap topographic data by combining the spoil heap area and vehicle posture; identifying the operating mode of the operating vehicle, and when the operating mode is identified as retaining wall operation, recording the vehicle's position data in real time using positioning equipment, and synchronously recording the vehicle's motion parameters using motion detection sensors, including the relative rotation angles between the front and rear frames, the boom lifting angle, and the relative rotation angles between the bucket and the boom; and using the position data, vehicle posture, and motion parameters as retaining wall related data.

[0087] S220. Inspect the flatness of the spoil heap. When the flatness is qualified, generate a spoil heap map based on the spoil heap topography data and retaining wall related data.

[0088] Optionally, the flatness of the spoil heap can be detected, including: real-time monitoring of the pitch and roll angles of the operating vehicles, and obtaining the preset angle thresholds corresponding to the pitch and roll angles; when the pitch and roll angles do not exceed the corresponding preset angle thresholds, the flatness of the spoil heap in the corresponding area is determined to be qualified; otherwise, the flatness of the spoil heap in the corresponding area is determined to be unqualified, and the corresponding area is marked as a leveling area or a restricted area.

[0089] Optionally, a spoil heap map is generated based on the spoil heap topographic data and retaining wall related data. This includes: preprocessing the spoil heap topographic data, marking the terrain distribution and flatness of the spoil heap to form complete basic topographic data; converting the location data into geocentric Cartesian coordinates to obtain the transformed location coordinates; obtaining preset vehicle structure parameters, and substituting the transformed location coordinates, motion parameters, and vehicle structure parameters into a preset retaining wall positioning algorithm to obtain the retaining wall position and height.

[0090] S230. During the continuous operation of the work vehicles, data is collected and updated synchronously, and the spoil heap map is dynamically updated based on the updated data.

[0091] Optionally, the spoil heap map is dynamically updated based on the updated data, including: updating the spoil heap range and labels with the newly added terrain data in the updated data; and substituting the updated retaining wall data in the updated data into a preset retaining wall positioning algorithm to calculate the updated retaining wall position and height.

[0092] S240. Based on the dynamically updated spoil heap map, the initial location and range of each unloading point are determined, and the unloading point generation is completed.

[0093] It is known that the initial location and range of the unloading position are not manually preset, but automatically calculated and generated by the cloud map maintenance subsystem based on the real-time updated position of the retaining wall. Once the work vehicle completes the construction or maintenance of a section of the retaining wall, the system immediately obtains the latest geographic coordinate sequence of that section. The algorithm uses the retaining wall as a baseline, offsetting inwards at a safe distance perpendicular to the retaining wall. This distance is determined based on the length of the transport vehicle and the safety margin for reversing, typically 15 to 20 meters. Along this baseline, the system divides several rectangular areas at fixed intervals, such as 1.5 times the vehicle width, according to the turning radius and U-turn space requirements of the transport vehicle. Each area represents the initial range of an unloading position. During the generation process, the system overlays terrain flatness data for verification. If the terrain of a candidate area is marked as an area to be leveled or a restricted area, the generation of an unloading position at that location is temporarily suspended until the work vehicle has leveled the terrain and its attitude angle meets the requirements, at which point it is activated. All newly generated unloading positions are initially marked as available. Their precise latitude and longitude coordinates, center point location, and corresponding retaining wall segment number are stored in the cloud map database and displayed as green icons on the human-computer interaction interface.

[0094] S250: When it is detected that a transport vehicle is heavily loaded and heading to the spoil heap, the current status of each unloading position is queried in real time, and the target unloading position with available status is selected.

[0095] Specifically, when the load sensor of a transport vehicle detects a heavy load and the destination reported by the onboard terminal is a spoil heap, the cloud system determines that it enters a pending allocation state. At this time, the system performs real-time query and filtering: it traverses all unloading position status fields on the spoil heap map, filters out the subset of unloading positions with available status, and sorts them by distance from the spoil heap entrance. For unmanned mining trucks, the system prioritizes allocating the available unloading position with the smallest number, i.e., the closest to the entrance, to minimize empty driving mileage; for manned vehicles, the system provides 3 to 5 candidate unloading positions for the driver to choose from. After the allocation decision is completed, the cloud system sends the precise coordinates of the target unloading position to the transport vehicle's onboard terminal via a 4G / 5G network. After receiving the data, the unmanned mining truck immediately replans its driving route based on a high-precision map, with the route endpoint precisely aligned with the center line of the unloading position; for manned vehicles, the location of the target unloading position is highlighted on the interactive device display screen, and voice navigation guidance is provided.

[0096] S260. Assign the target unloading position to the transport vehicle and change the unloading position status of the target unloading position from available to occupied.

[0097] Specifically, once an unloading position is assigned to a transport vehicle, that unloading position becomes occupied and remains occupied, displayed in red on the map, and the vehicle number and arrival timestamp are recorded. This status locking mechanism prevents conflicts between multiple vehicles, especially when unmanned and manned vehicles are operating together, effectively avoiding safety accidents caused by poor communication.

[0098] S270. After the transport vehicle finishes unloading and leaves the target unloading position, change the unloading position status of the target unloading position from occupied to pending maintenance.

[0099] Specifically, once the cargo box of the transport vehicle is raised into position and the materials are unloaded, the load sensor detects an empty state, and the vehicle leaves the unloading area. The on-board terminal reports an unloading completion event, which is received by the cloud system, which then initiates a status transition process. The system changes the unloading position status from occupied to pending maintenance, the interface icon changes from red to yellow, and records the unloading completion time and the estimated material accumulation range.

[0100] Optionally, the method also includes: designating unloading positions in the pending maintenance state as areas to be maintained; dispatching work vehicles from the spoil heap to perform leveling work on the areas to be maintained; and changing the status of the unloading positions in the areas to be maintained from pending maintenance state to available state after the flatness of the areas to be maintained has been tested and found to be qualified.

[0101] Specifically, when the cloud-based spoil heap map management system detects that the status of a certain unloading position has changed to "pending maintenance," it immediately marks the geographical area of ​​that unloading position as a maintenance area and initiates an automated scheduling process. Based on the center coordinates of the unloading position, the system selects the nearest idle vehicle from among the spoil heap's operating vehicles and pushes the leveling task to the target vehicle's onboard interactive device via a 4G / 5G communication network. The task information includes the precise boundary coordinates of the maintenance area, the estimated workload, and the priority level. After receiving the task, the operating vehicle's cab interactive device highlights the area to be leveled in a 3D visualization, while the voice module announces the task details. The driver drives to the area according to navigation guidance, or an unmanned bulldozer automatically plans its route. Upon arrival, the operating vehicle travels in a low-speed reciprocating mode within the area, using its bucket to level material accumulation areas and fill in low-lying areas. During this process, a high-precision positioning device installed above the cab continuously outputs the vehicle's real-time 3D coordinates and vehicle attitude data at a 10Hz frequency, where pitch and roll angles are flatness detection indicators. A dynamic threshold mechanism is used to determine whether the flatness is acceptable. The system is pre-set with acceptable standards: pitch angle not exceeding 3 degrees and roll angle not exceeding 2 degrees. When the attitude angles of all trajectory points of the working vehicle within the maintenance area are stable within the above threshold range for more than 30 seconds, the cloud algorithm determines that the area has met the flatness requirements. To avoid misjudgment, the system also calculates the root mean square value of all attitude data within the area to ensure overall flatness rather than local flatness. Once the flatness detection is qualified, the on-board interactive device immediately displays a flatness completion confirmation interface to the driver. After the driver clicks to confirm, the data is uploaded to the cloud; if it is an unmanned vehicle, a completion signal is automatically sent. After the cloud verifies that the data is correct, the unloading position status is reset from pending maintenance to available, the yellow icon on the map interface returns to green, and all transport vehicle terminals are updated simultaneously, completing the closed loop.

[0102] Specific application scenarios: Figure 4 A flowchart of a dynamic closed-loop management system for spoil heap maps is provided for Embodiment 3 of the present invention. Figure 4The process begins with the initialization phase, where the onboard subsystems of the work vehicles and transport vehicles, along with the map management system, complete system startup and data synchronization. At this stage, the work vehicles begin to compact the spoil heap and roads. While physically constructing retaining walls and leveling the site, the onboard spoil heap map acquisition subsystem uses high-precision positioning equipment to collect vehicle trajectory and attitude data in real time. After uploading the data to the cloud, the map management system generates an initial map, clearly defining the spoil heap boundaries, retaining wall locations, and terrain flatness, and creates a spoil heap map based on this, providing a digital foundation for subsequent operations. Simultaneously, the system allocates loading and unloading points according to the production plan, pre-generating a series of unloading positions on the map, all initially in a green, usable state. The main daily operation process begins with the heavy-load journey to the spoil heap. When a transport vehicle is fully loaded with material and heads towards the spoil heap, the onboard terminal automatically reports the heavy-load status and destination information, triggering the map management system's allocation mechanism. The system queries the current status of all unloading positions, filters out candidate points marked as green and usable, and, considering factors such as distance and path complexity, allocates the optimal target unloading position to the vehicle. After receiving the allocation results, the vehicle navigates to the designated location using a high-precision map. Upon arrival, the system immediately switches the unloading position status to red (occupied) to prevent other vehicles from entering and causing conflicts. After the transport vehicle completes lifting and unloading and leaves the site, the system immediately changes the unloading position status to yellow (pending maintenance), indicating that the area needs to be leveled again due to material accumulation or vehicle traffic. The yellow (pending maintenance) status triggers the spoil heap maintenance cycle. The map management system automatically dispatches the nearest work vehicle to the area for leveling operations. During the leveling process, the work vehicle continuously collects positioning and attitude data, and the system monitors the vehicle's pitch and roll angles in real time. When the attitude angle is continuously and stably within a preset threshold for more than 30 seconds, the leveling degree is determined to be acceptable. When the leveling degree is acceptable, the work vehicle confirms that the task is completed, and the system restores the unloading position status from yellow to green, reopening it for use, thus completing a complete operation loop. At the same time, the retaining wall data collected by the work vehicle during retaining wall construction and maintenance is continuously imported into the system. The map management subsystem can generate new retaining wall location and height information through geometric calculation algorithms, updating the spoil heap digital map. The anomaly handling branch ensures the system's robustness. If any anomalies are detected during unloading, such as the vehicle's attitude exceeding limits or abnormal deformation of the retaining wall, the vehicle immediately reports the anomaly. Upon receiving the anomaly report, the map management system will reassign the unloading position, guiding the current vehicle to another available location. Additionally, it will notify the maintenance unloading position and retaining wall, and dispatch work vehicles to prioritize handling the abnormal area to prevent the safety risk from escalating.

[0103] The technical solution of this invention automatically generates unloading positions based on a dynamically updated spoil heap map, eliminating the tedious process of manual surveying and marking, and ensuring that the unloading position maintains a precise and safe distance from the real-time retaining wall. Available unloading positions are automatically assigned before heavy-load vehicles arrive, effectively avoiding conflicts and path intersections, significantly improving scheduling efficiency and operational orderliness. After unloading positions are assigned, the area is locked to prevent other vehicles from accidentally entering, ensuring on-site operational safety. After unloading is completed, the area is automatically marked as requiring maintenance, triggering a leveling mechanism to ensure timely site restoration. The system automatically schedules work vehicles to level the area requiring maintenance, and restores it to a usable state after passing inspection, forming a closed-loop management system that improves the turnover rate of unloading positions and the overall operational efficiency of the spoil heap.

[0104] Example 3

[0105] Figure 5 This is a schematic diagram of a spoil heap map management device provided in Embodiment 3 of the present invention. Figure 5 As shown, the device includes: a map-related data acquisition module 310, used to collect topographic data of the spoil heap and retaining wall-related data during the operation of the spoil heap vehicles;

[0106] The spoil heap map generation module 320 is used to detect the flatness of the spoil heap ground. When the flatness is qualified, a spoil heap map is generated based on the spoil heap terrain data and retaining wall related data.

[0107] The unloading position maintenance module 330 is used to synchronously collect and update data during the continuous operation of the work vehicle, dynamically update the spoil heap map based on the updated data, and generate, allocate and maintain unloading positions based on the dynamically updated spoil heap map.

[0108] Optionally, the map-related data acquisition module 310 is specifically used for: acquiring the operating range of the working vehicle and determining the spoil heap area based on the operating range; monitoring the vehicle's posture in real time through positioning equipment, and obtaining spoil heap terrain data by combining the spoil heap area and vehicle posture; identifying the operating mode of the working vehicle, and when the operating mode is identified as retaining wall operation, recording the vehicle's position data in real time through positioning equipment, and synchronously recording the vehicle's motion parameters through motion detection sensors, including the relative rotation angles between the front and rear frames, the boom lifting angle, and the relative rotation angles between the bucket and boom; and using the position data, vehicle posture, and motion parameters as retaining wall related data.

[0109] Optionally, the spoil heap map generation module 320 specifically includes: a flatness detection unit, used to: monitor the pitch angle and roll angle of the operating vehicle in real time, and obtain the preset angle thresholds corresponding to the pitch angle and roll angle; when the pitch angle and roll angle do not exceed the corresponding preset angle thresholds, the flatness of the spoil heap ground in the corresponding area is determined to be qualified; otherwise, the flatness of the spoil heap ground in the corresponding area is determined to be unqualified, and the corresponding area is marked as a flattening area or a restricted area.

[0110] Optionally, the spoil heap map generation module 320 specifically includes: a spoil heap map generation unit, used for: preprocessing spoil heap terrain data, marking the terrain distribution and flatness of the spoil heap, forming complete terrain basic data; converting the location data into geocentric Cartesian coordinates to obtain transformed location coordinates; obtaining preset vehicle structure parameters, substituting the transformed location coordinates, motion parameters, and vehicle structure parameters into a preset retaining wall positioning algorithm to obtain the retaining wall position and retaining wall height; and fusing the terrain basic data with the retaining wall position and retaining wall height to construct a spoil heap map.

[0111] Optionally, the unloading position maintenance module 330 specifically includes: a spoil heap map update unit, used to: update the spoil heap range and markings with the newly added terrain data in the update data; and substitute the retaining wall update data in the update data into a preset retaining wall positioning algorithm to calculate the updated retaining wall position and retaining wall height.

[0112] Optionally, the unloading position maintenance module 330 specifically includes: an unloading position maintenance unit, used for: determining the initial location and range of each unloading position based on a dynamically updated spoil heap map, and generating unloading positions; when a transport vehicle is detected to be heavily loaded and heading to the spoil heap, querying the current status of each unloading position in real time, and filtering out target unloading positions with available status; allocating the target unloading position to the transport vehicle, and changing the unloading position status of the target unloading position from available status to occupied status; after the transport vehicle completes unloading and leaves the target unloading position, changing the unloading position status of the target unloading position from occupied status to pending maintenance status.

[0113] Optionally, the device also includes: a leveling operation module, used to designate unloading positions in the pending maintenance state as maintenance areas; dispatching work vehicles from the spoil heap to perform leveling operations on the maintenance areas; and when the maintenance area passes the flatness test, changing the unloading position status of the maintenance area from pending maintenance state to available state.

[0114] The technical solution of this invention integrates production and measurement by simultaneously collecting terrain and retaining wall data during the operation of the work vehicle, thereby reducing data acquisition costs. Flatness detection effectively filters out positioning errors caused by uneven terrain, ensuring map accuracy. Dynamic map updates and maintenance of unloading positions enable automatic switching of unloading position status, improving the overall turnover efficiency of the spoil heap.

[0115] The spoil heap map management device provided in this embodiment of the invention can execute the spoil heap map management method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0116] Example 4

[0117] Figure 6 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0118] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from storage unit 18. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0119] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0120] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a spoil heap map management method.

[0121] In some embodiments, a spoil heap map management method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the spoil heap map management method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform a spoil heap map management method by any other suitable means (e.g., by means of firmware).

[0122] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0123] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0124] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0125] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0126] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0127] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0128] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0129] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for managing spoil heap maps, characterized in that, include: During the operation of vehicles at the spoil heap, topographical data of the spoil heap and data related to the retaining walls are collected; The flatness of the spoil heap is checked. When the flatness is qualified, a spoil heap map is generated based on the spoil heap topography data and the retaining wall related data. During the continuous operation of the work vehicles, data is collected and updated synchronously. The spoil heap map is dynamically updated based on the updated data. Based on the dynamically updated spoil heap map, unloading positions are generated, allocated, and maintained. The collection of topographic data of the spoil heap and related data of the retaining wall includes: Obtain the operating range of the work vehicles, and determine the scope of the spoil heap based on the operating range; The vehicle's posture is monitored in real time by positioning equipment. Combined with the area of ​​the spoil heap and the vehicle's posture, the spoil heap terrain data is obtained. The operation mode of the work vehicle is identified. When the operation mode is identified as retaining wall operation, the position data of the work vehicle is recorded in real time by the positioning device, and the motion parameters of the work vehicle are recorded synchronously by the motion detection sensor. The motion parameters include the relative rotation angle between the front frame and the rear frame, the boom lifting angle, and the relative rotation angle between the bucket and the boom. The location data, vehicle posture, and motion parameters are used as data related to the retaining wall. The step of generating a spoil heap map based on the spoil heap topography data and the retaining wall related data includes: The topographic data of the spoil heap is preprocessed to mark the terrain distribution and flatness of the spoil heap, forming complete basic topographic data; The location data is converted into geocentric Cartesian coordinates to obtain the transformed location coordinates; Obtain preset vehicle structure parameters, and substitute the transformed position coordinates, the action parameters, and the vehicle structure parameters into a preset retaining wall positioning algorithm to obtain the retaining wall position and retaining wall height; The terrain data, the location of the retaining wall, and the height of the retaining wall are integrated to construct a spoil heap map; The process of generating, allocating, and maintaining unloading locations based on a dynamically updated spoil heap map includes: Based on the dynamically updated spoil heap map, the initial location and range of each unloading point are determined, and the unloading point generation is completed; When a transport vehicle is detected to be heavily loaded and heading to the spoil heap, the current status of each unloading position is queried in real time, and the target unloading position with available status is selected. The target unloading position is assigned to a transport vehicle, and the unloading position status of the target unloading position is changed from available to occupied. Once the transport vehicle has finished unloading and left the target unloading position, the unloading position status of the target unloading position will be changed from occupied to pending maintenance.

2. The method according to claim 1, characterized in that, The inspection of the flatness of the spoil heap surface includes: The pitch and roll angles of the work vehicle are monitored in real time, and the preset angle thresholds corresponding to the pitch and roll angles are obtained. When the pitch angle and roll angle do not exceed the corresponding preset angle threshold, the flatness of the spoil heap in the corresponding area is determined to be qualified; otherwise, the flatness of the spoil heap in the corresponding area is determined to be unqualified, and the corresponding area is marked as a flattening area or a restricted area.

3. The method according to claim 1, characterized in that, The dynamic updating of the spoil heap map based on updated data includes: Update the spoil heap area and labeling with newly added terrain data from the updated data; The updated retaining wall data is substituted into the preset retaining wall positioning algorithm to calculate the updated retaining wall position and height.

4. The method according to claim 1, characterized in that, The method further includes: The unloaded bits whose status is pending maintenance are designated as the maintenance areas. The dispatched vehicles of the spoil heap are used to level the area to be maintained. Once the flatness of the area to be maintained is found to be satisfactory, the unloading position status of the area to be maintained is changed from pending maintenance to available status.

5. A spoil heap map management device, characterized in that, include: The map-related data acquisition module is used to collect terrain data and retaining wall-related data of the spoil heap during the operation of vehicles at the spoil heap. The spoil heap map generation module is used to detect the flatness of the spoil heap ground. When the flatness is qualified, a spoil heap map is generated based on the spoil heap terrain data and the retaining wall related data. The unloading position maintenance module is used to synchronously collect and update data during the continuous operation of the work vehicle, dynamically update the spoil heap map based on the updated data, and generate, allocate and maintain unloading positions based on the dynamically updated spoil heap map. Specifically, the map-related data acquisition module is used to: obtain the operating range of the work vehicle, and determine the range of the spoil heap based on the operating range; The vehicle's posture is monitored in real time by positioning equipment. Combined with the area of ​​the spoil heap and the vehicle's posture, the spoil heap terrain data is obtained. The operation mode of the work vehicle is identified. When the operation mode is identified as retaining wall operation, the position data of the work vehicle is recorded in real time by the positioning device, and the motion parameters of the work vehicle are recorded synchronously by the motion detection sensor. The motion parameters include the relative rotation angle between the front frame and the rear frame, the boom lifting angle, and the relative rotation angle between the bucket and the boom. The location data, vehicle posture, and motion parameters are used as data related to the retaining wall. The spoil heap map generation module specifically includes a spoil heap map generation unit, used to: preprocess the spoil heap topographic data, mark the terrain distribution and flatness of the spoil heap, and form complete basic topographic data; The location data is converted into geocentric Cartesian coordinates to obtain the transformed location coordinates; Obtain preset vehicle structure parameters, and substitute the transformed position coordinates, the action parameters, and the vehicle structure parameters into a preset retaining wall positioning algorithm to obtain the retaining wall position and retaining wall height; The terrain data, the location of the retaining wall, and the height of the retaining wall are integrated to construct a spoil heap map; The unloading position maintenance module specifically includes an unloading position maintenance unit, used to: determine the initial position and range of each unloading position based on a dynamically updated spoil heap map, and complete the generation of unloading positions; When a transport vehicle is detected to be heavily loaded and heading to the spoil heap, the current status of each unloading position is queried in real time, and the target unloading position with available status is selected. The target unloading position is assigned to a transport vehicle, and the unloading position status of the target unloading position is changed from available to occupied. Once the transport vehicle has finished unloading and left the target unloading position, the unloading position status of the target unloading position will be changed from occupied to pending maintenance.

6. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.

7. A computer storage medium, characterized in that, The computer storage medium stores computer instructions that are used to cause a processor to execute the method of any one of claims 1-4.

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