Terrain model updating method and apparatus, device and storage medium
By acquiring the vehicle's transport mission trajectory, identifying the target vehicle, sending terrain detection messages, and controlling the vehicle to perform terrain detection, the problem of insufficient real-time terrain updates in open-pit mines is solved, achieving efficient and safe terrain model updates.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- EACON TECHNOLOGY CO LTD
- Filing Date
- 2025-12-10
- Publication Date
- 2026-07-02
Smart Images
Figure CN2025141352_02072026_PF_FP_ABST
Abstract
Description
Terrain model updating methods, apparatus, equipment and storage media Technical Field
[0001] This disclosure relates to the fields of autonomous driving, intelligent assisted driving, and mine monitoring and management, and more specifically, to a terrain model updating method, apparatus, device, and storage medium. Background Technology
[0002] Open-pit mines experience frequent terrain changes due to mining, transportation, and drainage operations. The planning and scheduling of mine production require timely detection of these changes. Furthermore, with the increasing adoption of autonomous driving technology in open-pit mines, terrain data is being used for high-precision mapping, global planning, and decision control, leading to increasingly stringent requirements for real-time terrain updates. Currently, terrain production and updating methods primarily include drone mapping and mobile data acquisition. Drone mapping suffers from insufficient real-time performance and is significantly affected by weather conditions, resulting in instability. Mobile data acquisition vehicles, due to their limited number and numerous tasks, cannot be frequently deployed for data collection and therefore cannot guarantee real-time terrain updates. Summary of the Invention
[0003] In view of this, the present disclosure provides a terrain model updating method, apparatus, device and storage medium.
[0004] According to a first aspect of this disclosure, a terrain model updating method is provided, comprising:
[0005] In response to the terrain update command, the transport mission trajectory of at least one vehicle in the operation environment is obtained, wherein the transport mission trajectory indicates the driving position that the vehicle should pass through to perform the transport mission, and the terrain update command indicates the terrain model tile to be updated in the terrain model of the operation environment.
[0006] In response to the fact that the positional relationship between the target terrain model slice and the vehicle mission trajectory satisfies a preset positional relationship condition, the target vehicle is determined from at least one vehicle, and the terrain model slice includes the target terrain model slice;
[0007] A terrain detection message is sent to the target vehicle, instructing it to perform a terrain detection task at the target driving position corresponding to the target terrain model tile, thereby obtaining a point cloud of the target area; and
[0008] The target operational environment terrain model is obtained by updating the point cloud of the target area.
[0009] Another aspect of this disclosure provides a terrain model updating apparatus, comprising:
[0010] The acquisition module is used to acquire the transport mission trajectory of at least one vehicle in the operation environment in response to the terrain update command. The transport mission trajectory indicates the driving position that the vehicle should pass through to perform the transport mission. The terrain update command indicates the terrain model tile to be updated in the terrain model of the operation environment.
[0011] The first determining module is used to determine the target vehicle from at least one vehicle in response to the fact that the positional relationship between the target terrain model slice and the vehicle mission trajectory meets a preset positional relationship condition. The terrain model slice includes the target terrain model slice.
[0012] The sending module is used to send terrain detection messages to the target vehicle. The terrain detection messages instruct the target vehicle to perform terrain detection tasks at the target driving position corresponding to the target terrain model slice, and obtain the point cloud of the target area.
[0013] The update module is used to update the terrain model of the working environment based on the point cloud of the target area, so as to obtain the terrain model of the target working environment.
[0014] Another aspect of this disclosure provides an electronic device, including: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to perform the terrain model update method.
[0015] Another aspect of this disclosure provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, cause the processor to perform the above-described terrain model update method.
[0016] According to embodiments of this disclosure, a target vehicle that satisfies a preset positional relationship with the terrain model slice to be updated is determined based on the vehicle's transport mission trajectory. Terrain detection messages are sent to control the target vehicle to perform terrain detection on the terrain area corresponding to the terrain model slice to be updated during the execution of the transport mission. This enables parallel execution of the transport mission and the terrain detection mission, improving the flexibility and timeliness of detecting the work environment. Updating the work environment terrain model using the target area point cloud allows the obtained target work environment terrain model to represent changes in terrain status in mines and other work environments in real time, reducing the time required for terrain model updates. Furthermore, controlling the autonomous vehicle to perform work tasks based on the target work environment terrain model can improve work efficiency and safety. Attached Figure Description
[0017] The above and other objects, features and advantages of this disclosure will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:
[0018] Figure 1 illustrates an application scenario of the terrain model updating method and apparatus according to an embodiment of the present disclosure.
[0019] Figure 2 shows a flowchart of a terrain model updating method according to an embodiment of the present disclosure;
[0020] Figure 3A shows a schematic diagram of a first positional relationship condition according to an embodiment of the present disclosure;
[0021] Figure 3B shows a schematic diagram of the second positional relationship condition according to an embodiment of the present disclosure;
[0022] Figure 4 shows a schematic diagram of a target vehicle determination method according to an embodiment of the present disclosure;
[0023] Figure 5 shows a schematic diagram of a terrain detection message determination method according to an embodiment of the present disclosure;
[0024] Figure 6 shows a structural block diagram of a terrain model updating device according to an embodiment of the present disclosure; and
[0025] Figure 7 shows a block diagram of an electronic device suitable for implementing a terrain model updating method according to an embodiment of the present disclosure. Embodiments of the present invention
[0026] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.
[0027] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.
[0028] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.
[0029] When using expressions such as "at least one of A, B and C", they should generally be interpreted in accordance with the meaning that is commonly understood by those skilled in the art (e.g., "a system having at least one of A, B and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B and C, etc.).
[0030] In the technical solution disclosed herein, the user information (including but not limited to user personal information, user image information, user device information, such as location information) and data (including but not limited to data used for analysis, stored data, and displayed data) involved are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, storage, use, processing, transmission, provision, disclosure, and application of related data all comply with the relevant laws, regulations, and standards of the relevant countries and regions, necessary confidentiality measures have been taken, and they do not violate public order and good morals. Corresponding operation entry points are provided for users to choose to authorize or refuse.
[0031] Open-pit mines experience frequent terrain changes due to mining, transportation, and drainage operations. The planning and scheduling of mine production operations require timely detection of these changes. Furthermore, with the increasing adoption of autonomous driving technology in open-pit mines, terrain data is used for high-precision mapping, global planning, and decision-making control, leading to increasingly stringent requirements for real-time terrain updates. Currently, terrain production and updating methods primarily include drone mapping and mobile data collection vehicles. Both methods require operator involvement, involving planning the collection area and manual operation, resulting in high costs and low efficiency. Drone mapping lacks real-time accuracy and is significantly affected by weather conditions, leading to instability. Mobile data collection vehicles, due to their limited number and heavy workload, cannot be frequently dispatched for data collection, thus failing to guarantee real-time terrain updates. Simultaneously, the presence of operators at the autonomous driving site in open-pit mines impacts production efficiency and poses safety hazards. The terrain updates at the work site are frequent, especially in loading areas where updates occur on a minute-by-minute basis. The update delays of drones and the limited collection areas of mobile data collection vehicles result in insufficient data validity.
[0032] Embodiments of this disclosure provide a terrain model updating method, apparatus, device, and storage medium. The method includes: in response to a terrain update command, acquiring the transport mission trajectory of at least one vehicle in an operational environment, wherein the transport mission trajectory indicates the driving position through which the vehicle should perform its transport mission, and the terrain update command indicates a terrain model slice in the operational environment terrain model to be updated; in response to a positional relationship between a target terrain model slice and the transport mission trajectory satisfying a preset positional relationship condition, determining a target vehicle from the at least one vehicle, the terrain model slice including the target terrain model slice; sending a terrain detection message to the target vehicle, the terrain detection message indicating that the target vehicle performs a terrain detection task at a target driving position corresponding to the target terrain model slice, obtaining a target area point cloud; and updating the operational environment terrain model based on the target area point cloud to obtain a target operational environment terrain model.
[0033] Figure 1 illustrates an application scenario of the terrain model updating method and apparatus according to an embodiment of the present disclosure.
[0034] As shown in Figure 1, application scenario 100 according to this embodiment may include vehicles 101, 102, and 103, a network 104, and a server 105. Network 104 serves as a medium for providing a communication link between terminal devices 101, 102, and 103 and server 105. Network 104 may include various connection types, such as wired or wireless communication links or fiber optic cables, etc.
[0035] Users can use vehicles 101, 102, and 103 to interact with server 105 via network 104 to receive or send messages, etc. Vehicles 101, 102, and 103 can be unmanned vehicles, or may include vehicles driven by a driver.
[0036] Vehicles 101, 102, and 103 can be any type of vehicle, such as trucks, cars, etc.
[0037] Server 105 can be a server that provides various services, such as a server that provides background management of the movement and operation status of vehicles 101, 102, and 103 (this is just an example). The background management server can analyze and process data such as broadcast messages sent by vehicles and feed back the processing results to any vehicle.
[0038] It should be noted that the terrain model updating method provided in this embodiment can generally be executed by server 105. Correspondingly, the terrain model updating device provided in this embodiment can generally be located in server 105. The terrain model updating method provided in this embodiment can also be executed by a server or server cluster that is different from server 105 and capable of communicating with vehicles 101, 102, 103 and / or server 105. Correspondingly, the terrain model updating device provided in this embodiment can also be located in a server or server cluster that is different from server 105 and capable of communicating with vehicles 101, 102, 103 and / or server 105.
[0039] It should be understood that the number of vehicles, networks, and servers shown in Figure 1 is merely illustrative. Any number of vehicles, networks, and servers can be used depending on implementation needs.
[0040] The terrain model update method of the disclosed embodiment will be described in detail below based on the scenario described in Figure 1, with reference to Figures 2 to 5.
[0041] Figure 2 shows a flowchart of a terrain model updating method according to an embodiment of the present disclosure.
[0042] As shown in Figure 2, the method includes operations S210~S240.
[0043] In operation S210, in response to the terrain update command, the transport mission trajectory of at least one vehicle in the operational environment is acquired.
[0044] In operation S220, in response to the positional relationship between the target terrain model slice and the vehicle mission trajectory satisfying a preset positional relationship condition, the target vehicle is determined from at least one vehicle.
[0045] According to embodiments of this disclosure, the terrain model tile includes a target terrain model tile. The target terrain model tile may be a terrain model tile to be updated, and a terrain update command may be used to instruct the target terrain model tile to be updated.
[0046] In operation S230, a terrain detection message is sent to the target vehicle.
[0047] According to embodiments of this disclosure, the terrain detection message instructs the target vehicle to perform a terrain detection task at the target driving position corresponding to the target terrain model slice, thereby obtaining a point cloud of the target area.
[0048] In operation S240, the terrain model of the working environment is updated based on the point cloud of the target area to obtain the terrain model of the target working environment.
[0049] According to embodiments of this disclosure, the transport mission trajectory indicates the travel positions that the vehicle should pass through to perform the transport mission, and the terrain update instruction indicates the terrain model tiles in the operational environment terrain model to be updated. The operational environment may include operational areas associated with any type of operation, such as mining areas, mining loading areas, and cargo logistics areas. Embodiments of this disclosure do not limit the specific types of operations associated with the operational environment.
[0050] According to embodiments of this disclosure, the acquisition of transport mission trajectories can be based on scheduling tasks issued by the server. In response to terrain update commands, the transport mission trajectories of at least one vehicle in the operational environment can be acquired. The vehicle can be a vehicle used to perform operations, such as a container truck, mining truck, excavator, etc. Embodiments of this disclosure do not limit the specific type of vehicle.
[0051] According to embodiments of this disclosure, terrain model slicing organizes and manages the mining area terrain based on gridded slices. Each terrain model slice corresponds to a certain area on the map, such as a loading area, spoil heap, or road. Embodiments of this disclosure do not limit the map feature type of the terrain model slices. The terrain model slice may include a target terrain model slice. In response to the positional relationship between the target terrain area corresponding to the target terrain model slice and the transport mission trajectory satisfying a preset positional relationship condition, a target vehicle can be determined from at least one vehicle. The preset positional relationship condition may include the transport mission trajectory passing through the target terrain area or the transport mission trajectory being at a preset distance from the boundary of the target terrain area, but it is not limited to these. Embodiments of this disclosure do not limit the specific positional conditions of the preset positional relationship condition.
[0052] According to embodiments of this disclosure, a terrain detection message can be sent to a target vehicle. The terrain detection message instructs the target vehicle to perform a terrain detection task at a target driving position corresponding to a target terrain model slice, obtaining a point cloud of the target area. The terrain detection task can be issued to the corresponding vehicle via a communication system, and the vehicle can activate its onboard LiDAR to scan the terrain between specified start and end points to generate a point cloud of the target area. The target area point cloud may include location coordinate data and timestamp data.
[0053] According to embodiments of this disclosure, the target vehicle can upload the point cloud of the target area to a cloud server. During the upload process, the integrity and accuracy of the data must be ensured. The cloud server can perform data quality verification on the point cloud of the target area and update the terrain model of the working environment based on terrain model reconstruction algorithms such as point cloud preprocessing, semantic segmentation, and raster resampling to obtain the terrain model of the target working environment.
[0054] According to embodiments of this disclosure, a target vehicle that satisfies a preset positional relationship with the terrain model tile to be updated can be determined based on the vehicle's transport mission trajectory. By sending terrain detection messages to the target vehicle, the vehicle is controlled to perform terrain detection on the terrain area corresponding to the terrain model tile to be updated during the execution of the transport mission. This enables parallel execution of the transport mission and the terrain detection mission, improving the flexibility and timeliness of detecting the work environment. Updating the work environment terrain model using the target area point cloud allows the obtained target work environment terrain model to represent changes in terrain status in working environments such as mines in real time, reducing the time required for terrain model updates. Furthermore, controlling the autonomous vehicle to perform work tasks based on the target work environment terrain model can improve work efficiency and safety.
[0055] According to embodiments of this disclosure, the preset positional relationship conditions include any one of the following positional relationship conditions: a first positional relationship condition and a second positional relationship condition.
[0056] The first positional relationship condition indicates that there is at least partial overlap between the vehicle mission trajectory and the target terrain region corresponding to the target terrain model slice. For example, at least one trajectory point of the vehicle mission trajectory may be located in the target terrain region corresponding to the target terrain model slice.
[0057] The second positional relationship condition indicates that the vehicle mission trajectory and the target terrain region corresponding to the target terrain model slice do not overlap, and the distance between the specified driving position of the vehicle mission trajectory and the boundary of the target terrain region satisfies the specified distance condition.
[0058] According to an embodiment of this disclosure, the second positional relationship condition can indicate that the vehicle mission trajectory does not pass through the target terrain region corresponding to the target terrain model slice, and the distance between the specified driving position of the vehicle mission trajectory and the boundary of the target terrain region satisfies the specified distance condition.
[0059] According to embodiments of this disclosure, a vehicle that satisfies preset positional relationship conditions can be identified as a target vehicle.
[0060] Figure 3A shows a schematic diagram of a first positional relationship condition according to an embodiment of the present disclosure.
[0061] Figure 3B shows a schematic diagram of a second positional relationship condition according to an embodiment of the present disclosure.
[0062] As shown in Figure 3A, in application scenario 301, in response to the terrain update command, the transport mission trajectory 331 of the vehicle 321 in the work environment is obtained. The terrain update command indicates the terrain model slice to be updated in the terrain model of the work environment, and the terrain region corresponding to the terrain model slice is A311. The vehicle 321 travels along the transport mission trajectory 331 and passes through the terrain region A311 corresponding to the target terrain model slice. The positional relationship between the terrain region A311 corresponding to the target terrain model slice and the transport mission trajectory 331 satisfies the first positional relationship condition, and the vehicle 321 is identified as the target vehicle.
[0063] As shown in Figure 3B, in application scenario 302, in response to the terrain update command, the transport mission trajectory 332 of the vehicle 322 in the work environment is obtained. The terrain update command indicates the terrain model slice to be updated in the terrain model of the work environment, and the terrain region A312 corresponding to the terrain model slice. The vehicle 322 travels along the transport mission trajectory 332. The distance D341 between the specified travel position T331 of the transport mission trajectory 332 and the boundary of the target terrain region A312 satisfies the specified distance condition, that is, the positional relationship between the terrain region A312 corresponding to the target terrain model slice and the transport mission trajectory 332 satisfies the second positional relationship condition, and the vehicle 322 is determined as the target vehicle.
[0064] According to embodiments of this disclosure, by setting preset positional relationship conditions, the correlation between the vehicle mission trajectory and the target terrain model slice can be ensured, resource allocation can be optimized, terrain areas that overlap with or are close to the vehicle mission trajectory can be updated first, terrain detection tasks can be processed and responded to more intelligently, response speed can be improved, and unnecessary data processing can be reduced by setting preset positional relationship conditions, thus reducing the consumption of computing resources.
[0065] According to embodiments of this disclosure, the vehicles include multiple vehicles; determining a target vehicle from at least one vehicle in response to a preset positional relationship condition being met between the positional relationship between the target terrain model tile and the candidate transport mission trajectory of each of the multiple candidate vehicles includes: determining a candidate travel time for a candidate vehicle to travel to a designated location based on an associated candidate transport mission trajectory in response to a preset positional relationship condition being met between the positional relationship between the target terrain model tile and the candidate transport mission trajectories of each of the multiple candidate vehicles; and determining the target vehicle from the multiple candidate vehicles based on the multiple candidate travel times. The multiple vehicles include multiple candidate vehicles, the designated location and the terrain area meet the preset positional relationship condition, and the candidate transport mission trajectory can be understood as the transport mission trajectory of the candidate vehicle.
[0066] According to embodiments of this disclosure, multiple vehicles may be included that satisfy preset positional relationship conditions. These multiple vehicles may include multiple candidate vehicles, where the specified location and the target terrain area satisfy the preset positional relationship conditions.
[0067] The condition that the specified location and the target terrain region satisfy the preset positional relationship can be understood as follows:
[0068] The specified location coincides with the target terrain area; or
[0069] The specified location does not overlap with the target terrain area, and the distance between the specified location and the boundary of the target terrain area meets the specified distance condition.
[0070] In other words, the specified location can be any location within the target terrain area or close to the target terrain area.
[0071] According to embodiments of this disclosure, in response to the fact that the positional relationship between the target terrain region corresponding to the target terrain model slice and the candidate transport mission trajectories of multiple candidate vehicles satisfies a preset positional relationship condition, the candidate travel time of a candidate vehicle traveling to a specified location based on the associated candidate transport mission trajectory can be determined.
[0072] According to embodiments of this disclosure, the candidate vehicle with the shortest candidate travel time can be selected as the target vehicle based on multiple candidate travel times. In another embodiment, the candidate vehicle closest to the target terrain region corresponding to the target terrain model tile can be selected as the target vehicle.
[0073] Figure 4 shows a schematic diagram of a target vehicle determination method according to an embodiment of the present disclosure.
[0074] As shown in Figure 4, the application scenario 400 may include a terrain region A410 corresponding to the target terrain model slice, a designated location T440, and multiple vehicles. In response to the positional relationship between the terrain region A410 corresponding to the target terrain model slice and the vehicle's mission trajectory satisfying a preset positional relationship condition—for example, if the positional relationship between the mission trajectory 431 corresponding to vehicle 421 and the terrain region A410 corresponding to the target terrain model slice satisfies a first positional relationship condition—vehicle 421 can be identified as a candidate vehicle 421. Similarly, if the positional relationship between the mission trajectory 432 corresponding to vehicle 422 and the target terrain model slice satisfies a first positional relationship, vehicle 422 can be identified as a candidate vehicle 422. The candidate travel time for each candidate vehicle 421 and 422 to travel to the designated location T440 is determined. Based on the candidate travel times for each candidate vehicle 421 and 422, if the candidate travel time for candidate vehicle 421 is shorter, candidate vehicle 421 can be identified as the target vehicle.
[0075] According to embodiments of this disclosure, by analyzing the positional relationship between the target terrain model tile and the candidate transport mission trajectories of multiple candidate vehicles, it is possible to accurately determine which vehicles are most suitable for performing terrain detection tasks, thereby improving the accuracy and efficiency of task allocation. By selecting the optimal vehicle for the task, resources can be used most effectively, avoiding unnecessary waste. By considering the candidate travel time and positional relationship of the vehicles, the flexibility of the system can be improved, and the processing efficiency of terrain acquisition tasks can be increased.
[0076] According to embodiments of this disclosure, the terrain model slices include multiple slices, which are arranged according to their respective priorities. The target vehicle's target transport mission trajectory and the first target terrain model slice with the highest priority satisfy a preset positional relationship condition. The target transport mission trajectory can be understood as the transport mission trajectory of the target vehicle.
[0077] The terrain detection message is determined based on the following operations: The positional relationship between the target vehicle's mission trajectory and the candidate terrain regions corresponding to the candidate terrain model slices is determined, resulting in a judgment result. The candidate terrain model slices are other terrain model slices besides the first target terrain model slice from a pool of multiple terrain model slices. In response to the judgment result characterizing the positional relationship between the target vehicle's mission trajectory and the second target terrain model slice among the candidate terrain model slices, and satisfying preset positional relationship conditions, the second target driving position corresponding to the second target terrain model slice is determined from the target vehicle's mission trajectory. The target driving position includes the second target driving position and the first target driving position corresponding to the first target terrain model slice. Based on the target driving position, the terrain detection message is determined.
[0078] According to embodiments of this disclosure, the terrain model slices may include multiple slices, and the multiple terrain model slices may form a queue according to priority. When the target vehicle and the highest priority first terrain model slice meet the preset positional relationship conditions, multiple updatable second target terrain model slices are assigned to the target vehicle.
[0079] According to embodiments of this disclosure, the positional relationship between the target vehicle mission trajectory and the candidate terrain region corresponding to the candidate terrain model slice can be determined to obtain a determination result. If the determination result characterizes the positional relationship between the target vehicle mission trajectory and the second target terrain model slice in the candidate terrain model slice, and satisfies a preset positional relationship condition, a second target driving position corresponding to the second target terrain model slice is determined from the target vehicle mission trajectory. The target driving position may include multiple second target driving positions and multiple first target driving positions corresponding to the first target terrain model slice. Based on the target driving positions, a terrain detection message can be determined.
[0080] Figure 5 shows a schematic diagram of a terrain detection message determination method according to an embodiment of the present disclosure.
[0081] As shown in Figure 5, this application scenario 500 may include a vehicle 521, multiple terrain regions corresponding to multiple terrain model slices, and multiple target driving positions. The terrain regions corresponding to the multiple terrain model slices may include terrain regions A510, A511, A512, and A513. Terrain region A511 has a higher priority than terrain region A510, terrain region A510 has a higher priority than terrain region A513, and terrain region A513 has a higher priority than terrain region A512. The target transport mission trajectory 530 of vehicle 521 satisfies the first positional relationship condition with the terrain region A511 corresponding to the first target terrain model slice with the highest priority. By judging the positional relationship between the target transport mission trajectory 530 and the candidate terrain regions A510, A512, and A513, it can be seen that only the positional relationship between the candidate terrain region A510 and the target transport mission trajectory 530 satisfies the preset positional relationship. Therefore, the terrain model slice corresponding to the candidate terrain region A510 can be used as the second target terrain model slice. When the vehicle 521 travels to the first target travel position 541, it can perform a terrain detection task on the terrain area A511. When it travels to the second target travel position 542, it can perform a terrain detection task on the terrain area A510. Based on the first target travel position 541 and the second target travel position 542, it can determine the terrain detection message.
[0082] According to embodiments of this disclosure, by prioritizing terrain model slices, it can be ensured that the most important terrain areas are updated and processed first. Prioritizing high-priority terrain model slices allows for the most efficient allocation and utilization of limited resources. By determining the positional relationship between candidate terrain model slices and the target vehicle's trajectory, it can be ensured that only vehicles meeting preset positional relationship conditions are selected, thereby improving the accuracy and reliability of the collected data. Furthermore, by determining the target's driving position, the server can more effectively plan and execute terrain detection tasks, improving the overall task execution efficiency.
[0083] According to embodiments of this disclosure, determining a terrain detection message based on a target driving position includes: determining a control command adapted to a target terrain region based on the target driving position, wherein the target terrain region corresponds to the target driving position, and the control command is used to control a target vehicle traveling to the target driving position to perform a terrain detection task; and determining a terrain detection message based on control commands corresponding to multiple target driving positions.
[0084] According to embodiments of this disclosure, the target driving location may include one driving location, or may include multiple driving locations that are consecutive or spaced apart. The target vehicle can control sensors at multiple target driving locations to perform terrain detection and obtain terrain point clouds.
[0085] According to embodiments of this disclosure, based on the target driving position, control commands adapted to the target terrain area can be determined. These control commands can be used to control a target vehicle traveling to the target driving position to perform a terrain detection task. Based on the control commands corresponding to multiple target driving positions, terrain detection messages are determined.
[0086] According to embodiments of this disclosure, by determining control commands adapted to the target terrain area, the target vehicle can be precisely controlled to travel to a designated location and perform terrain detection tasks, improving the accuracy and reliability of task execution. The automated generation and issuance of control commands reduces manual intervention, increasing the automation level of terrain detection tasks and thus improving efficiency and response speed. Precise control of the vehicle's position and task execution prevents the vehicle from entering dangerous or unsuitable areas for detection, improving operational safety. Rapidly determining terrain detection messages and issuing control commands enables the server to respond to terrain changes and detection needs in real time, enhancing real-time monitoring and data processing capabilities.
[0087] According to embodiments of this disclosure, the priority of terrain model tiles is determined based on the time when the terrain model tile is to be updated, and the duration between the time when the terrain model tile is to be updated and the time when the terrain model tile is constructed is greater than or equal to the configuration freshness duration corresponding to the terrain model tile.
[0088] According to embodiments of this disclosure, the priority of terrain model tiles is determined based on the update time of the terrain model tile, which can represent the expiration time of the terrain model tile's validity period. The construction time can represent the time when the terrain model tile is generated, and the configured freshness duration can represent the set validity period of the terrain model tile. The terrain model tile can remain valid for the configured freshness duration. After the configured freshness duration has expired, it indicates that the terrain model tile needs to be updated, thereby generating a terrain update instruction.
[0089] For example, if the terrain model tile was built at 8:00 AM and has a freshness period of 2 hours, the update time could be 10:00 AM, which is the start time of the terrain model tile's expiration, or it could be any time after the terrain model tile expires, such as 11:00 AM or 12:00 PM. In other words, you can directly configure the start time of the terrain model tile's expiration as the update time, or you can specify any time after the terrain model tile's expiration as the update time.
[0090] The relationship between the time to be updated and priority can be understood as follows: the smaller the difference between the time to be updated and the current time, the higher the priority. For example, suppose the time to be updated for terrain model tile A is 10:00, for terrain model tile B it is 8:00, and for terrain model tile C it is 12:00. With the current time at 9:00, the difference for terrain model tile A is 10-9=1, for terrain model tile B it is 8-9=-1, and for terrain model tile C it is 12-9=3. In this case, the priority order is: terrain model tile B > terrain model tile A > terrain model tile C.
[0091] According to embodiments of this disclosure, based on the real-time requirements of terrain updates for different map feature types, corresponding freshness requirement parameters can be set for different terrain model tiles. For example, loading areas can be set to update once every 1 hour, spoil heaps can be set to update once every 2 hours, and roads can be set to update once every 6 hours. By monitoring the freshness expiration time of all terrain model tiles, the priority of the terrain model tiles can be determined. The duration between the time to be updated and the time of construction of the terrain model tile is greater than or equal to the configured freshness duration corresponding to the terrain model tile.
[0092] According to embodiments of this disclosure, it can be determined whether a vehicle can pass through the area to be updated based on the time to be updated and the time to be built. If it passes through the area to be updated, a terrain detection task can be generated by selecting the terrain area corresponding to the high-priority terrain model tile. The terrain detection task can include the start point and end point of terrain acquisition.
[0093] According to embodiments of this disclosure, dynamic real-time updates of open-pit mine terrain are achieved through intelligent scheduling and real-time data collection, ensuring the timeliness of terrain data and the freshness of terrain updates, enabling updates at the hourly or even minute level.
[0094] According to embodiments of this disclosure, updating the operational environment terrain model based on the target area point cloud to obtain the target operational environment terrain model includes: reconstructing the terrain based on the target area point cloud to obtain target terrain model slices; and updating the terrain model slices to be updated based on the target terrain model slices to obtain the target operational environment terrain model.
[0095] According to embodiments of this disclosure, terrain reconstruction of a target region can be performed based on a point cloud of the target region to obtain a target terrain model slice. The terrain model slice to be updated can be updated based on the target terrain model slice to obtain a target operational environment terrain model.
[0096] According to embodiments of this disclosure, the terrain database in the background can be updated using the target area point cloud, real-time terrain data and historical terrain data in the database can be merged, the old data of the corresponding area can be covered with the new target area point cloud, and the obtained target operation environment terrain model can be displayed to the front end in real time for operation personnel to make decisions.
[0097] According to embodiments of this disclosure, terrain data is collected during the intervals of conventional transportation, which greatly improves the efficiency of terrain data collection and updating without additional investment in equipment and manpower, avoids the safety risks of manual on-site measurement, realizes unmanned measurement operations, and ensures the validity of the data by using the data collected entirely on the vehicle's mission trajectory.
[0098] Based on the above-described terrain model updating method, this disclosure also provides a terrain model updating device. The device will be described in detail below with reference to Figure 6.
[0099] Figure 6 shows a structural block diagram of a terrain model updating device according to an embodiment of the present disclosure.
[0100] As shown in Figure 6, the terrain model update device 600 of this embodiment includes an acquisition module 610, a first determination module 620, a sending module 630, and an update module 640.
[0101] The acquisition module 610 is used to acquire the transport mission trajectory of at least one vehicle in the operation environment in response to the terrain update command. The transport mission trajectory indicates the driving position that the vehicle should pass through to perform the transport mission, and the terrain update command indicates the terrain model tile to be updated in the terrain model of the operation environment.
[0102] The first determining module 620 is used to determine a target vehicle from at least one vehicle in response to the fact that the positional relationship between the target terrain model slice and the vehicle mission trajectory meets a preset positional relationship condition. The terrain model slice includes the target terrain model slice.
[0103] The sending module 630 is used to send a terrain detection message to the target vehicle. The terrain detection message instructs the target vehicle to perform a terrain detection task at the target driving position corresponding to the target terrain model slice, and obtain the point cloud of the target area.
[0104] The update module 640 is used to update the terrain model of the working environment based on the point cloud of the target area to obtain the terrain model of the target working environment.
[0105] According to embodiments of this disclosure, a target vehicle that satisfies a preset positional relationship with the terrain model slice to be updated is determined based on the vehicle's transport mission trajectory. Terrain detection messages are sent to control the target vehicle to perform terrain detection on the terrain area corresponding to the terrain model slice to be updated during the execution of the transport mission. This enables parallel execution of the transport mission and the terrain detection mission, improving the flexibility and timeliness of detecting the work environment. Updating the work environment terrain model using the target area point cloud allows the obtained target work environment terrain model to represent changes in terrain status in mines and other work environments in real time, reducing the time required for terrain model updates. Furthermore, controlling the autonomous vehicle to perform work tasks based on the target work environment terrain model can improve work efficiency and safety.
[0106] According to embodiments of this disclosure, a first positional relationship condition indicates that the vehicle's mission trajectory and the terrain region corresponding to the target terrain model slice at least partially overlap. A second positional relationship condition indicates that the vehicle's mission trajectory and the terrain region corresponding to the target terrain model slice do not overlap, and the distance between the specified driving position of the vehicle's mission trajectory and the boundary of the target terrain region satisfies a specified distance condition.
[0107] According to embodiments of this disclosure, the vehicle includes a plurality of vehicles.
[0108] According to embodiments of this disclosure, the first determining module includes: a candidate travel time determining unit and a target vehicle determining unit.
[0109] The candidate travel time determination unit is used to determine the candidate travel time of a candidate vehicle to a specified location based on the associated candidate transport mission trajectory in response to the positional relationship between the target terrain model slice and the candidate transport mission trajectory of multiple candidate vehicles satisfying the preset positional relationship condition. The multiple vehicles include multiple candidate vehicles, and the specified location and the terrain area satisfy the preset positional relationship condition.
[0110] The target vehicle determination unit is used to determine the target vehicle from multiple candidate vehicles based on multiple candidate travel times.
[0111] According to embodiments of this disclosure, the terrain model slices include multiple slices, which are arranged according to their respective priorities, and the target vehicle's target transport mission trajectory and the first target terrain model slice with the highest priority satisfy a preset positional relationship condition.
[0112] According to embodiments of this disclosure, the sending module includes: a judgment result obtaining unit, a second target driving position determining unit, and a terrain detection message determining unit.
[0113] The judgment result unit is used to judge the positional relationship between the target vehicle mission trajectory and the candidate terrain region corresponding to the candidate terrain model slice, and obtain the judgment result. Among them, the candidate terrain model slice is the other terrain model slices besides the first target terrain model slice among multiple terrain model slices.
[0114] The second target driving position determination unit is used to respond to the judgment result characterizing the positional relationship between the target vehicle mission trajectory and the second target terrain model slice in the candidate terrain model slice, satisfy the preset positional relationship conditions, and determine the second target driving position corresponding to the second target terrain model slice from the target vehicle mission trajectory. The target driving position includes the second target driving position and the first target driving position corresponding to the first target terrain model slice.
[0115] The terrain detection message determination unit is used to determine the terrain detection message based on the target driving position.
[0116] According to embodiments of this disclosure, the terrain detection message determination unit includes: a control command determination subunit and a terrain detection message determination subunit.
[0117] The control command determination subunit is used to determine control commands adapted to the target terrain area based on the target driving position. The target terrain area corresponds to the target driving position, and the control commands are used to control the target vehicle that has driven to the target driving position to perform terrain detection tasks.
[0118] The terrain detection message determination subunit is used to determine the terrain detection message based on the control commands corresponding to the driving positions of multiple targets.
[0119] According to embodiments of this disclosure, the priority of terrain model tiles is determined based on the time when the terrain model tile is to be updated, and the duration between the time when the terrain model tile is to be updated and the time when the terrain model tile is constructed is greater than or equal to the configuration freshness duration corresponding to the terrain model tile.
[0120] According to embodiments of this disclosure, the updating module includes: a target terrain model slicing unit and a target operational environment terrain model obtaining unit.
[0121] The target terrain model slices are used to obtain cells, which are then used for terrain reconstruction based on the point cloud of the target area, resulting in target terrain model slices.
[0122] The target operational environment terrain model is obtained by generating a unit, which is used to update the terrain model tile to be updated based on the target terrain model tile, thereby obtaining the target operational environment terrain model.
[0123] According to embodiments of this disclosure, any plurality of modules among the acquisition module 610, the first determination module 620, the sending module 630, and the update module 640 may be combined into one module, or any one of these modules may be split into multiple modules. Alternatively, at least part of the functionality of one or more of these modules may be combined with at least part of the functionality of other modules and implemented in one module. According to embodiments of this disclosure, at least one of the acquisition module 610, the first determination module 620, the sending module 630, and the update module 640 may be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or any other reasonable means of integrating or packaging circuitry, or implemented in software, hardware, or firmware, or in any one of the three implementation methods or a suitable combination of any of them. Alternatively, at least one of the acquisition module 610, the first determination module 620, the sending module 630, and the update module 640 may be implemented at least partially as a computer program module, which can perform corresponding functions when the computer program module is run.
[0124] According to embodiments of the present disclosure, the terrain model updating apparatus is adapted to perform the terrain model updating method provided according to embodiments of the present disclosure.
[0125] Figure 7 shows a block diagram of an electronic device suitable for implementing a terrain model updating method according to an embodiment of the present disclosure.
[0126] As shown in FIG. 7, an electronic device 700 according to an embodiment of the present disclosure includes a processor 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage portion 708 into a random access memory (RAM) 703. The processor 701 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 701 may also include onboard memory for caching purposes. The processor 701 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.
[0127] RAM 703 stores various programs and data required for the operation of electronic device 700. Processor 701, ROM 702, and RAM 703 are interconnected via bus 704. Processor 701 performs various operations of the method flow according to embodiments of the present disclosure by executing programs in ROM 702 and / or RAM 703. It should be noted that the programs may also be stored in one or more memories other than ROM 702 and RAM 703. Processor 701 may also perform various operations of the method flow according to embodiments of the present disclosure by executing programs stored in said one or more memories.
[0128] According to embodiments of this disclosure, the electronic device 700 may further include an input / output (I / O) interface 705, which is also connected to a bus 704. The electronic device 700 may also include one or more of the following components connected to the I / O interface 705: an input section 706 including a keyboard, mouse, etc.; an output section 707 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN card, modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 710 as needed so that computer programs read from it can be installed into the storage section 708 as needed.
[0129] This disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of this disclosure.
[0130] According to embodiments of this disclosure, the computer-readable storage medium can be a non-volatile computer-readable storage medium, such as including, but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. For example, according to embodiments of this disclosure, the computer-readable storage medium may include ROM 702 and / or RAM 703 and / or one or more memories other than ROM 702 and RAM 703 described above.
[0131] Embodiments of this disclosure also include a computer program product comprising a computer program containing program code for performing the methods shown in the flowchart. When the computer program product is run on a computer system, the program code is used to cause the computer system to implement the terrain model updating method provided in the embodiments of this disclosure.
[0132] When the computer program is executed by the processor 701, it performs the functions defined in the system / apparatus of this disclosure embodiments. According to embodiments of this disclosure, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.
[0133] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and may be downloaded and installed via the communication section 709, and / or installed from a removable medium 711. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.
[0134] In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 709, and / or installed from the removable medium 711. When the computer program is executed by the processor 701, it performs the functions defined in the system of this disclosure embodiment. According to embodiments of this disclosure, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.
[0135] According to embodiments of this disclosure, program code for executing the computer programs provided in embodiments of this disclosure can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages include, but are not limited to, languages such as Java, C++, Python, "C", or similar programming languages. The program code can execute entirely on a user's computing device, partially on a user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).
[0136] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.
[0137] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.
[0138] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.
Claims
1. A terrain model update method, comprising: In response to a terrain update command, the transport mission trajectory of at least one vehicle in the operational environment is obtained, wherein the transport mission trajectory indicates the driving position that the vehicle should pass through to perform the transport mission, and the terrain update command indicates the terrain model tile to be updated in the operational environment terrain model. In response to the fact that the positional relationship between the target terrain model slice and the vehicle mission trajectory satisfies a preset positional relationship condition, a target vehicle is determined from at least one of the vehicles, wherein the terrain model slice includes the target terrain model slice; A terrain detection message is sent to the target vehicle, instructing the target vehicle to perform a terrain detection task at the target driving position corresponding to the target terrain model slice, thereby obtaining a point cloud of the target area; and The target work environment terrain model is obtained by updating the point cloud of the target area.
2. The method according to claim 1, wherein, The preset positional relationship conditions include any one of the following positional relationship conditions: The first positional relationship condition indicates that the trajectory of the transport mission and the target terrain region corresponding to the target terrain model slice at least partially overlap; The second positional relationship condition indicates that the vehicle mission trajectory and the target terrain region corresponding to the target terrain model slice do not overlap, and the distance between the specified driving position of the vehicle mission trajectory and the boundary of the target terrain region satisfies the specified distance condition.
3. The method according to claim 1 or 2, wherein, The vehicle includes multiple vehicles; Wherein, determining the target vehicle from at least one of the vehicles in response to the positional relationship between the target terrain model slice and the vehicle mission trajectory satisfying a preset positional relationship condition includes: In response to the fact that the positional relationship between the target terrain model slice and the candidate transport mission trajectories of the multiple candidate vehicles satisfies the preset positional relationship condition, the candidate travel time of the candidate vehicle to the designated location based on the associated candidate transport mission trajectory is determined, wherein the multiple vehicles include multiple candidate vehicles, and the designated location and the target terrain region satisfy the preset positional relationship condition; The target vehicle is determined from the candidate vehicles based on the candidate driving times.
4. The method according to claim 1 or 2, wherein, The terrain model slices include multiple slices, which are arranged according to their respective priorities. The target vehicle's target transport mission trajectory and the first target terrain model slice with the highest priority satisfy the preset positional relationship condition. The terrain detection message is determined based on the following operations: The positional relationship between the target vehicle mission trajectory and the candidate terrain region corresponding to the candidate terrain model slice is determined to obtain the determination result. The candidate terrain model slice is other terrain model slices besides the first target terrain model slice among the multiple terrain model slices. In response to the judgment result characterizing the positional relationship between the target vehicle mission trajectory and the second target terrain model slice in the candidate terrain model slices, and satisfying the preset positional relationship condition, a second target driving position corresponding to the second target terrain model slice is determined from the target vehicle mission trajectory. The target driving position includes the second target driving position and a first target driving position corresponding to the first target terrain model slice. The terrain detection message is determined based on the target driving location.
5. The method according to claim 4, wherein, The determination of the terrain detection message based on the target driving position includes: Based on the target driving position, control instructions adapted to the target terrain area are determined, wherein the target terrain area corresponds to the target driving position, and the control instructions are used to control the target vehicle that has driven to the target driving position to perform a terrain detection task; The terrain detection message is determined based on control commands corresponding to the multiple target driving positions.
6. The method according to claim 4, wherein, The priority of the terrain model tile is determined based on the time when the terrain model tile is to be updated. The duration between the time when the terrain model tile is to be updated and the time when the terrain model tile is constructed is greater than or equal to the configuration freshness duration corresponding to the terrain model tile.
7. The method according to claim 1, wherein, The step of updating the operational environment terrain model based on the point cloud of the target area to obtain the target operational environment terrain model includes: Terrain reconstruction is performed based on the point cloud of the target area to obtain target terrain model slices; and The target operational environment terrain model is obtained by updating the terrain model slice to be updated based on the target terrain model slice.
8. A terrain model updating device, comprising: The acquisition module is used to acquire the transport mission trajectory of at least one vehicle in the operation environment in response to the terrain update command, wherein the transport mission trajectory indicates the driving position that the vehicle should pass through to perform the transport mission, and the terrain update command indicates the terrain model tile to be updated in the terrain model of the operation environment. The first determining module is configured to determine a target vehicle from at least one of the vehicles in response to a preset positional relationship condition between the positional relationship between the target terrain model slice and the vehicle mission trajectory, wherein the terrain model slice includes the target terrain model slice. The sending module is configured to send a terrain detection message to the target vehicle, the terrain detection message instructing the target vehicle to perform a terrain detection task at the target driving position corresponding to the target terrain model slice, thereby obtaining a point cloud of the target area; and The update module is used to update the operational environment terrain model based on the point cloud of the target area to obtain the target operational environment terrain model.
9. An electronic device, comprising: One or more processors; Memory, used to store one or more programs. Wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the method of any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon executable instructions that, when executed by a processor, cause the processor to perform the method of any one of claims 1 to 7.