AU2021426704A1

AU2021426704A1 - Map editing device and method and map updating system for unmanned transport system for surface mines

Info

Publication number: AU2021426704A1
Application number: AU2021426704A
Authority: AU
Inventors: Yunfeng AI; Feiyue Wang; Chao Yang; Changcheng Zhou
Original assignee: Jiangsu XCMG Construction Machinery Institute Co Ltd
Current assignee: Jiangsu XCMG Construction Machinery Institute Co Ltd
Priority date: 2021-09-16
Filing date: 2021-10-28
Publication date: 2023-03-30
Also published as: CN113932792A; WO2023040008A1; CN113932792B

Abstract

OF THE DISCLOSURE The invention provides a map editing device and method and a map updating system for an unmanned transport system for surface mines, and belongs to the technical field of unmanned driving of surface mines. The map editing method comprises: finely dividing a working area by a polygonal clipping controller, or integrating and adjusting working areas by a polygonal integrating controller; segmenting, by a lane segmenting controller, a lane to be edited; selecting two lanes to be edited and then joining the two lanes, by a lane joining controller; selecting two lanes to be edited and then splicing the two lanes, by a lane splicing controller; and extending, by a lane extending controller, a lane to be edited. Compared with traditional vector maps, the invention is suitable for specific scenes of surface mines; and for structurized driveable areas and non-structurized working areas, semantic information is added; and a rich editing method is provided to allow users to create, maintain and update maps of complicated environments of surface mines.

Description

MAP EDITING DEVICE AND METHOD AND MAP UPDATING SYSTEM FOR UNMANNED TRANSPORT SYSTEM FOR SURFACE MINES BACKGROUND OF THE INVENTION

[0001] 1. Technical Field

[0002] The invention relates to a map editing device and method for an unmanned

transport system for surface mines, and belongs to the technical field of unmanned driving

systems of surface mines.

[0003] 2. Description of Related Art

[0004] Surface mines are generally far away from city and harsh in environment, and

most drivers working in mining districts suffer from serious occupational diseases and severe

aging. In addition, due to the high labor intensity, long working hours, and rough and bumpy

roads in the mining districts, operational safety is difficult to guarantee. The pressure in

operational safety and labor cost of the mining districts keeps on increasing. So, unmanned

transport for isolated mines is being applied to management of mines more and more widely at

present.

[0005] However, although skillful drivers can drive smoothly in mining districts where

the terrain is complicated, the road width is limited, the road surface is uneven and different

types of roads are interlaced, unmanned vehicles completely depending on a path planning

algorithm will not be able to always find the way successfully, and in loading/unloading areas

where roads change frequently with the proceeding of production, maps should be available

more timely to adapt to the properties of this scene. Moreover, mine maps mainly serve

unmanned drive systems rather than human drivers, and conventional vector road network

editing and synchronizing method cannot quickly respond to the requirements of unmanned

driving systems in mining districts for maps.

[0006] Traditional graphical editing methods for electronic maps cannot meet the requirements of mine unmanned transport systems for high precision (accurate parking and tracking of unmanned mining trucks), high response (timely updating of maps to unmanned mining trucks) and high semantics (such as road edges and driveable paths) for maps, thus being not suitable for unmanned transport systems of surface mines.

BRIEF SUMMARY OF THE INVENTION

[0007] The objective of the invention is to provide a map editing device and method for

an unmanned transport system for surface mines to meet the requirements of unmanned transport

systems of surface mines for maps.

[0008] To fulfill the above objective, the invention adopts the following technical

solution:

[0009] In a first aspect, the invention provides a map editing device for an unmanned

transport system for surface mines, comprising:

[0010] A map container used for displaying a satellite map of a surface mine area and

map elements superposed on the satellite map and associated with surface mine production,

wherein the map elements include driveable area graphics and working area graphics, and the

driveable area graphics comprise lanes, and the lanes comprise initial nodes, path nodes and

terminal nodes;

[0011] A map element controller used for performing operations, including dragging,

moving, rotating, deleting and view angle control, on the map elements;

[0012] A lane segmenting controller used for segmenting one lane into two lanes, and

generating a terminal node and semantic information of a first lane, as well as an initial node and

semantic information of a second lane according to a segmenting point;

[0013] A lane joining controller used for joining and smoothing two lanes, and

generating path nodes and semantic information of a lane obtained by joining the two lanes;

[0014] A lane splicing controller used for splicing and smoothing two lanes that have no road network relation therebetween in space, or two lanes that are spatially continuous, but have no road network relation established therebetween, with an initial node of a second lane and a terminal node of a first lane having same semantic information;

[0015] A lane extending controller used for extending a lane in a heading direction of a

terminal node of the lane according to a designated distance, with the terminal node of the lane

as an initial node;

[0016] A polygonal integrating controller used for integrating two working areas into one

working area; and

[0017] A polygonal clipping controller used for dividing one working area into two

working areas.

[0018] Further, the working area comprises a loading area, an unloading area, a blast

heap, a crushing station and a boundary, and the driveable area graphics comprise road edges.

[0019] Further, the semantic information includes several or all of longitude, latitude,

heading, speed limit information, height, gear, curvature, road width and road length.

[0020] Further, the map editing device for an unmanned transport system for surface

mines further comprises: a source data conversion device used for converting a collected

driveable area graphic or working area graphic into formatted data capable of being recognized

by the map editing device.

[0021] In a second aspect, the invention provides a map editing method for an unmanned

transport system for surface mines, which uses the aforementioned map editing device, and

comprises:

[0022] In conjunction with the map element controller, finely dividing a working area by

the polygonal clipping controller, or integrating and adjusting working areas by the polygonal

integrating controller;

[0023] In conjunction with the map element controller, segmenting a lane to be edited, or

moving any one lane obtained by segmenting, or deleting any one lane obtained by segmenting, by the lane segmenting controller;

[0024] In conjunction with the map element controller, selecting two lanes to be edited

and thenjoining the two lanes to obtain a new lane, by the lane joining controller;

[0025] In conjunction with the map element controller, selecting two lanes to be edited

and then splicing the two lanes to obtain two new lanes, by the lane splicing controller; and

[0026] In conjunction with the map element controller, selecting a lane to be edited and

then extending the lane to obtain a new lane generated in a heading direction of a terminal node

of the lane to be edited according to a designated distance, by the lane extending controller.

[0027] In a third aspect, the invention provides a central server, comprising the

aforementioned map editing device and configured to perform the following operations:

[0028] Receiving a version number of a map element sent from a mining truck client;

determining whether the version number of the map element sent form the mining truck client is

identical with a version number of the map element in the central server; if so, issuing "identical"

to the mining truck client; or, if not, issuing a corresponding version number and detailed

information of the map element to the mining truck client.

[0029] In a fourth aspect, the invention provides a mining truck client, configured to

perform the following operations:

[0030] Traversing all map elements stored in the mining truck client, obtaining version

numbers of the map elements, and sending the version numbers to a central server; and

[0031] Receiving corresponding version numbers and detailed information of the map

elements issued by the central server, and updating the map elements.

[0032] In a fifth aspect, the invention provides a mining truck client, configured to

perform the following operations:

[0033] Traversing all map elements stored in the mining truck client, obtaining version

numbers of the map elements, and sending version number information to a central server;

[0034] Receiving corresponding version numbers and detailed information of the map elements issued by the central server;

[0035] In response to a case where the map elements are center line elements and a

mining truck is not performing a task, updating the map elements;

[0036] In response to a case where the map elements are center line elements and a

mining truck is performing a task in a working area, updating the map elements after the current

task is finished;

[0037] In response to a case where the map elements are center line elements and a

mining truck is performing a task not in a working area, interrupting the current task, and

updating the map elements; or

[0038] In response to a case where the map elements not center line elements, updating

the map elements.

[0039] In a sixth aspect, the invention provides a central server, comprising the

[0040] Sending a map element update message to a mining truck client, wherein the map

element update message comprises an element type, an element identifier and an update type;

and

[0041] Receiving a to-be-updated map element type and identifier sent from the mining

truck client, and issuing detailed information of a corresponding map element to the mining truck

client.

[0042] In a seventh aspect, the invention provides a mining truck client, configured to

perform the following operations:

[0043] Receiving a map element update message issued by a central server and analyzing

the map element update message, wherein the map element update message comprises an

element type, an element identifier and an update type;

[0044] In response to a case where a map element is a center line element, a mining truck

is not performing a task and the update type of the map element is a delete type, deleting the map element;

[0045] In response to a case where a map element is a center line element, a mining truck

is performing a task in a working area and the update type of the map element is a delete type,

finishing the current task, and then deleting the map element; or

[0046] In response to a case where a map element is a center line element, a mining truck

is performing a task not in a working area and the update type of the map element is a delete type,

interrupting the current task, and then deleting the map element.

[0047] Further, the mining truck client is also configured to perform the following

operation:

[0048] In response to a case where a map element is a center line element, a mining truck

is not performing a task and the update type of the map element is a non-delete type, sending a

map element type and identifier to be updated to the central server; and adding or modifying the

map element according to detailed information of the map element corresponding to the map

element type and identifier issued by the central server;

[0049] In response to a case where a map element is a center line element, a mining truck

is performing a task in a working area and the update type of the map element is a non-delete

type, finishing the current task, and sending a map element type and identifier to be updated to

the central server; and adding or modifying the map element according to detailed information of

the map element corresponding to the map element type and identifier issued by the central

server; or

[0050] In response to a case where a map element is a center line element, a mining truck

is performing a task not in a working area and the update type of the map element is a non-delete

type, interrupting the current task, and sending a map element type and identifier to be updated

to the central server; and adding or modifying the map element according to detailed information

of the map element corresponding to the map element type and identifier issued by the central

server;

[0051] Further, the mining truck client is also configured to perform the following

operation:

[0052] In response to a case where a map element is not a center line element and the

update type of the map element is a delete type, deleting the map element; or

[0053] In response to a case where a map element is not a center line element and the

update type of the map element is a non-delete type, sending a map element type and identifier to

be updated to the central server; and adding or modifying the map element according to detailed

information of the map element corresponding to the map element type and identifier issued by

the central server.

[0054] The invention has the following beneficial technical effects:

[0055] (1) Compared with traditional vector maps, the invention is suitable for specific

scenes of surface mines; and for structurized driveable areas and non-structurized working areas,

semantic information is added, lane-level road information and topological relations related to

working areas are provided to lay a data basis for path planning of unmanned mining trucks;

[0056] (2) The invention provides an editing method supporting rich operations (lane

segmenting, lane joining, lane splicing, lane extending, polygonal integrating, polygonal clipping,

and the like) to allow users to obtain a map of the complicated environment of a surface mine

rapidly and timely by means of combined operations of map editing, the topological relations of

a road network can be adjusted synchronously with the proceeding of actual work, and updating

of the whole road network is avoided, thus improving the map editing efficiency;

[0057] (3) Through real-time interaction between a central server and a mining truck

client, a road network structure can be updated to unmanned mining trucks timely and reliably,

thus guaranteeing the work continuity and driving safety.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0058] FIG. 1 is a schematic diagram of lane segmenting according to one embodiment of the invention;

[0059] FIG. 2 is a schematic diagram of lane joining according to one embodiment of the

invention;

[0060] FIG. 3 is a schematic diagram of lane splicing according to one embodiment of

the invention;

[0061] FIG. 4 is a schematic diagram of lane extending according to one embodiment of

the invention;

[0062] FIG. 6 is a schematic diagram of polygonal clipping according to one embodiment

of the invention;

[0063] FIG. 6 is a schematic diagram of polygonal integrating according to one

embodiment of the invention;

[0064] FIG. 7 is a principle flow diagram of regular map updating in definite time

according to one embodiment of the invention;

[0065] FIG. 8 is a principle flow diagram of real-time map updating according to one

embodiment of the invention.

DETAILED DESCRIPTION OF THE INVENTION

[0066] The invention will be further described below in conjunction with specific

embodiments. The following embodiments are merely used to more clearly explain the technical

solutions of the invention, and should not be construed as limiting the protection scope of the

invention.

[0067] As mentioned above, existing map editing methods are not suitable for unmanned

transport systems of surface mines and cannot meet the requirements for high precision, high

response and high semantics of mine unmanned transport systems.

[0068] In one embodiment, the invention provides a map editing device for an unmanned

transport system for surface mines.

[0069] The map editing device is suitable for surface mine environments. The production

scene of surface mines mainly comprises two areas:

[0070] A driveable area, which is structurized and comprises a driveable road (lane),

nodes (including initial nodes, path nodes, terminal nodes and the like), a road edge, and the like,

wherein the driveable roads are non-standard mine roads;

[0071] A working area, which is non-structurized, comprises a loading area, an unloading

area, a blast heap, a crushing station and a boundary, and is generally an area that has no obvious

driving path, but has a boundary.

[0072] For the driveable area, original map data of the driveable area is collected, and an

original map data file is converted into map source data; a driveable path is divided into a

plurality of road segments based on a specific principle, and each road segment is composed of

an initial node, a terminal node, a road width, a road length, and the like. Because the mine

working environment will change with time, the driveable area will change accordingly. To

create, maintain and update roads in the driveable area, exclusive lane editing controllers

(including a lane segmenting controller, lane joining controller, a lane splicing controller, a lane

extending controller, and the like) suitable for mine roads are designed in the map editing device

to create, maintain and update lanes more quickly.

[0073] For the working area, original map data of the working area is collected, and an

original map data file is converted into map source data. The working area has an obvious

boundary and will change more frequently with the proceeding of production. In order to create,

maintain and update the working area, exclusive working area editing controllers (including a

polygonal integrating controller, a polygonal clipping controller, and the like) are designed in the

map editing device to create, maintain and update a working area more quickly.

[0074] Specifically, in one embodiment, the map editing device comprises: a source data

conversion device, a map container, a map element controller, a lane segmenting controller, a

lane joining controller, a lane splicing controller, a lane extending controller, a polygonal integrating controller and a polygonal clipping controller.

[0075] The source data conversion device is used for analyzing source data provided by

users, converting the source data into formatted data capable of being recognized by the map

editing device, and uploading the formatted data to the map container.

[0076] Wherein, the source data provided by the users includes map data of a driveable

area (driveable road or road edge) or a working area (loading area, unloading area, blast heap,

crushing station or boundary) collected in the production scene of a surface mine, or data of a

driveable area generated according to a path planning algorithm.

[0077] The map container is used for displaying a satellite map of a surface mine area

and map elements superposed on the satellite map and associated with surface mine production,

wherein the map elements comprise driveable area graphics and working area graphics, and the

driveable area graphics comprise lanes (including initial nodes, path nodes, terminal nodes, and

the like), road edges, and the like.

[0078] The map element controller is used for performing operations, including dragging,

moving, rotating, deleting and view angle control, on map elements in a corresponding area in

the map container.

[0079] The lane segmenting controller is used for segmenting one lane into two lanes,

and generating a terminal node and semantic information of a first lane, as well as a initial node

and semantic information of a second lane according to a segmenting point, so as to maintain a

road network relation between the two lanes.

[0080] For example, as shown in FIG. 1, assume a lane 1 to be segmented is selected by

means of the map element controller, a lane segmenting point is calibrated by means of the lane

segmenting controller, and then the lane 1 is segmented into a lane 2 and a lane 3, wherein an

initial node 1 of the lane 1 is an initial node 1 of the lane 2, a terminal node 4 of the lane 1 is a

terminal node 4 of the lane 3, and the lane segmenting controller generates a terminal node 2 of

the lane 2, an initial node 3 of the lane 3, and semantic information of these nodes, such as lane width and lane length.

[0081] The lane joining controller is used for joining and smoothing two lanes, and

generating path node information of a lane obtained by joining the two lanes, including semantic

information such as longitude, latitude, heading, speed limit information, height, gear, curvature

and lane width.

[0082] As shown in FIG. 2, assume a lane 1 and a lane 2 that are to be joined are selected

by means of the map element controller, a new lane 3 may be generated by means of the lane

joining controller, wherein an initial node 1of the lane 1 is an initial node 1 of the lane 3, a

terminal node 4 of the lane 2 is a terminal node 4 of the lane 3, and the lane 3 is smooth enough

and meets vehicle dynamics.

[0083] The vehicle splicing controller is used for splicing and smoothing two lanes that

have no road network relation therebetween in space, or establishing a topological relation

between two lanes that are spatially continuous, but have no road network relation established

therebetween, that is, an initial node of a second lane and a terminal node of a first lane have the

same semantic information.

[0084] As shown in FIG. 3, assume a lane 1 and a lane 2 that are to be spliced are

selected by means of the map element controller, a new lane 2 may be generated by means of the

lane splicing controller, an initial node 2 of the new lane 2 is a terminal node 2 of the lane 1, and

the lane splicing controller makes up a track between an initial node 3 of the original lane 2 and

the terminal node of the lane 1, and the track is smooth enough and meets vehicle dynamics.

[0085] The lane extending controller is used for extending a selected lane in a heading

direction of a terminal node of the lane according to a designated distance, with the terminal

node of the lane as an initial node, and recognizing an obstacle.

[0086] As shown in FIG. 4, assume a lane 1 to be extended is selected by means of the

map element controller, a new straight lane may be generated by means of the lane extending

controller, wherein an initial node of the new lane is a terminal node 2 of the lane 1, and a terminal node of the new lane is an end point of a straight line extended in a heading direction of the terminal node 2 of the lane 1 according to a designated distance.

[0087] The polygonal integrating controller is used for integrating two polygonal areas

into a new polygonal area and is generally used for expanding a working area.

[0088] As shown in FIG. 6, assume an area 1 and an area 2 that are to be integrated are

selected by means of the map element controller, the two selected areas may be integrated by

means of the polygonal integrating controller.

[0089] The polygonal clipping controller is used for clipping one polygonal area into two

polygonal areas and is generally used for narrowing a working area.

[0090] As shown in FIG. 5, assume an area to be clipped is selected by means of the map

element controller, the whole initial area may be divided into an area 1 and an area 2 by means of

the polygonal clipping controller according to a clipping position, thus effectively improving

fineness of map editing.

[0091] In another embodiment, a map editing method for an unmanned transport system

for surface mines comprises:

[0092] In conjunction with a map element controller, a polygonal clipping controller

divides a working area finely, or a polygonal integrating controller integrates and adjusts

working areas;

[0093] In conjunction with the map element controller, a lane segmenting controller

segments a lane to be edited, moves any one lane obtained by segmenting, or deletes any one

lane obtained by segmenting;

[0094] In conjunction with the map element controller, a lane joining controller selects

two lanes to be edited (collected by users or generated through a path planning algorithm), and

then joins the two lanes to obtain a new lane;

[0095] In conjunction with the map element controller, a lane splicing controller selects

two lanes to be edited, and then splices the two lanes to obtain two new lanes; and

[0096] In conjunction with the map element controller, a lane extending controller selects

a lane to be edited, and then extends the lane to obtain a new lane generated in a heading

direction of a terminal node of the lane to be edited according to a designated distance.

[0097] In another embodiment, the map editing method for an unmanned transport

system for surface mines further comprises:

[0098] A source data conversion device analyzes a collected driveable area or working

area, converts the collected driveable area or working area into formatted data capable of being

recognized by a map editing device, and uploads the formatted data to a map container.

[0099] In another embodiment, a map updating system for an unmanned transport system

for surface mines comprises:

[00100] A central server used for managing and storing data generated during a map

editing process, and issuing and synchronizing required map data to a mining truck client in time;

and

[00101] A mining truck client used for maintaining current map element versions of an

unmanned mining truck, and synchronizing or updating map element data.

[00102] Map updating is performed in two ways: regular updating and real-time updating.

A regular updating request is initiated by a mining truck client, version numbers of map elements

in the mining truck client are compared with version numbers of the map elements in a central

server, and all elements in a global map are updated regularly. Real-time updating is initiated by

the central server; after modifying map elements, the central server informs all online mining

truck clients of the modified map elements, and the map elements, which may be local map

elements, are added, deleted and modified in real time.

[00103] Regular updating is performed when a mining truck client is initialized, and is

performed in a synchronous response mode before a mining truck starts to work, and updated

map elements are directly stored after regular updating. Or, regular updating is performed

periodically after the mining truck client is initialized, and is performed in an asynchronous response mode during work (driving, loading or unloading) of a mining truck.

[00104] When regular updating is performed during work of the mining truck, whether a

map element to be updated is a center line element needs to be determined. Wherein, the center

line element may be a center line, an initial node, a path node, or a terminal node of a lane within

a driveable area. The change of the center line element will affect a task performed by the mining

truck (normal driving). Non-center line elements are elements except the center line of a lane,

and the change of the non-center line element will not affect the task performed by the mining

truck.

[00105] If a map element to be updated is not a non-center line element, the map element

is updated directly, then map display is updated, and finally, a database is updated.

[00106] If a map element to be updated is a center line element, whether the mining truck

is performing a task is determined.

[00107] If the mining truck is performing a task, whether to interrupt the task is

determined according to the type of the current task.

[00108] If the mining truck is performing a loading or unloading task in a working area,

the current task needs to be finished to not affect normal work of an excavation or unloading

device, then the map element is updated, map display is updated, and the database is updated; or,

if the mining truck is not performing a loading or unloading task in a working area, the current

task is interrupted, the map element is updated, the map display is updated, and the database is

updated.

[00109] As shown in FIG. 7, regular updating specifically comprises the following steps:

[00110] Si01, a mining truck client traverses all map elements of a map stored therein,

obtains version numbers of the map elements, and sends the version numbers to a central server;

[00111] S102, the central server receives the version numbers of the map elements sent

from the mining truck client, determines whether the version numbers of the map elements are

identical with version numbers of the map elements in the central server; if so, S103 is performed; otherwise, S104 is performed;

[00112] S103: "identical" is issued to the mining truck client, and S106 is performed;

[00113] S104, a corresponding version number and detailed information of the map

elements are issued to the mining truck client;

[00114] S105, the mining truck client receives the corresponding version number and

detailed information of the map elements issued by the central server, determines whether the

map elements are center line elements; if the map elements are not center line elements, S106 is

performed; or, if the map elements are center line elements, S107 is performed;

[00115] S106, the map elements are updated;

[00116] S107, whether a mining truck is performing a task is determined; if the mining

truck is performing a task, S108 is performed; or, if the mining truck is not performing a task,

S106 is performed;

[00117] S108, whether the mining truck is performing a task in a working area is

determined; if the mining truck is performing a task in a working area, S109 is performed; or, if

the mining truck is not performing a task in the working area, SI10 is performed;

[00118] S109, the current task is finished, and S106 is performed;

[00119] S110, the current task is interrupted, and S106 is performed;

[00120] SIll1, map display is updated; and

[00121] S112, a database is updated.

[00122] As shown in FIG. 8, the specific process of real-time updating is as follows:

[00123] S201, after modifying map elements, a central server sends a map element update

message to a mining truck client, wherein the map element update message comprises an

element type, an element identifier and an update type;

[00124] S202, the mining truck client analyzes the received map element update

message;

[00125] S203, the mining truck client determines whether a map element is a center line element; if the map element is a center line element, S204 is performed; otherwise, S208 is performed;

[00126] S204, whether a mining truck is performing a task is determined; if so, S205 is

performed; otherwise, S208 is performed;

[00127] S205, whether the mining truck is performing a task in a working area is

determined; if so, S206 is performed; otherwise, S207 is performed;

[00128] S206, the current task is finished, and S208 is performed;

[00129] S207, the current task is interrupted, and S208 is performed;

[00130] S208, whether the update type of the map element is a delete type is determined;

if so, S209 is performed; otherwise, S210 is performed;

[00131] S209, the map element is deleted, and S213 is performed;

[00132] S210, a map element type and identifier to be updated are sent to the central

server;

[00133] S211, the central server issues detailed information of the corresponding map

element to the mining truck according to the map element type and identifier, and S212 is

performed;

[00134] S212, the map element is added or modified;

[00135] S213, map display is updated; and

[00136] S214, a database is updated.

[00137] Although the invention has been disclosed above with reference to preferred

embodiments, these embodiments are not used to limit the invention. All technical solutions

obtained by equivalent substitution or transformation should fall within the protection scope of

the invention.

Claims

What is claimed is:

1. A map editing device for an unmanned transport system for surface mines, comprising:

a map container used for displaying a satellite map of a surface mine area and map elements

superposed on the satellite map and associated with surface mine production, wherein the map

elements include driveable area graphics and working area graphics, and the driveable area

graphics comprise lanes, and the lanes comprise initial nodes, path nodes and terminal nodes;

a map element controller used for performing operations, including dragging, moving,

rotating, deleting and view angle control, on the map elements;

a lane segmenting controller used for segmenting one lane into two lanes, and generating a

terminal node and semantic information of a first lane, as well as an initial node and semantic

information of a second lane according to a segmenting point;

a lane joining controller used forjoining and smoothing two lanes, and generating path nodes

and semantic information of a lane obtained byjoining the two lanes;

a lane splicing controller used for splicing and smoothing two lanes that have no road

network relation therebetween in space, or two lanes that are spatially continuous, but have no

road network relation established therebetween, with an initial node of a second lane and a

terminal node of a first lane having same semantic information;

a lane extending controller used for extending a lane in a heading direction of a terminal node

of the lane according to a designated distance, with the terminal node of the lane as an initial

node;

a polygonal integrating controller used for integrating two working areas into one working

area; and

a polygonal clipping controller used for dividing one working area into two working areas.

2. The map editing device for an unmanned transport system for surface mines according to

Claim 1, wherein the working area comprises a loading area, an unloading area, a blast heap, a

crushing station and a boundary, and the driveable area graphics further comprise road edges.

3. The map editing device for an unmanned transport system for surface mines according to

Claim 1, wherein the semantic information includes several or all of longitude, latitude, heading,

speed limit information, height, gear, curvature, road width and road length.

4. The map editing device for an unmanned transport system for surface mines according to

Claim 1, further comprising a source data conversion device used for converting a collected

by the map editing device.

5. A map editing method for an unmanned transport system for surface mines, using the map

editing device according to any one of Claims 1-4, and comprising:

in conjunction with the map element controller, finely dividing a working area by the

polygonal clipping controller, or integrating and adjusting working areas by the polygonal

integrating controller;

in conjunction with the map element controller, segmenting a lane to be edited, or moving

any one lane obtained by segmenting, or deleting any one lane obtained by segmenting, by the

lane segmenting controller;

in conjunction with the map element controller, selecting two lanes to be edited and then

joining the two lanes to obtain a new lane, by the lane joining controller;

splicing the two lanes to obtain two new lanes, by the lane splicing controller; and

in conjunction with the map element controller, selecting a lane to be edited and then

extending the lane to obtain a new lane generated in a heading direction of a terminal node of the

lane to be edited according to a designated distance, by the lane extending controller.

6. A central server, comprising the map editing device according to any one of Claims 1-4,

and being configured to perform the following operations:

receiving a version number of a map element sent from a mining truck client; determining

whether the version number of the map element sent form the mining truck client is identical with a version number of the map element in the central server; if so, issuing "identical" to the mining truck client; or, if not, issuing a corresponding version number and detailed information of the map element to the mining truck client.

7. A mining truck client, being configured to perform the following operations

traversing all map elements stored in the mining truck client, obtaining version numbers of

the map elements, and sending the version numbers to a central server; and

receiving corresponding version numbers and detailed information of the map elements

issued by the central server, and updating the map elements.

8. A mining truck client, being configured to perform the following operations:

the map elements, and sending version number information to a central server;

issued by the central server;

in response to a case where the map elements are center line elements and a mining truck is

not performing a task, updating the map elements;

performing a task in a working area, updating the map elements after the current task is finished;

performing a task not in a working area, interrupting the current task, and updating the map

elements; or

in response to a case where the map elements not center line elements, updating the map

elements.

9. A central server, comprising the map editing device according to any one of Claims 1-4,

and being configured to perform the following operations:

sending a map element update message to a mining truck client, wherein the map element

update message comprises an element type, an element identifier and an update type; and receiving a to-be-updated map element type and identifier sent from the mining truck client, and issuing detailed information of a corresponding map element to the mining truck client.

10. A mining truck client, being configured to perform the following operations:

receiving a map element update message issued by a central server and analyzing the map

element update message, wherein the map element update message comprises an element type,

an element identifier and an update type;

in response to a case where a map element is a center line element, a mining truck is not

performing a task and the update type of the map element is a delete type, deleting the map

element;

In response to a case where a map element is a center line element, a mining truck is

performing a task in a working area and the update type of the map element is a delete type,

finishing the current task, and then deleting the map element; or

performing a task not in a working area and the update type of the map element is a delete type,

interrupting the current task, and then deleting the map element.

11. The mining truck client according to Claim 10, also being configured to perform the

following operation:

performing a task and the update type of the map element is a non-delete type, sending a map

element type and identifier to be updated to the central server; and adding or modifying the map

element according to detailed information of the map element corresponding to the map element

type and identifier issued by the central server;

performing a task in a working area and the update type of the map element is a non-delete type,

finishing the current task, and sending a map element type and identifier to be updated to the

central server; and adding or modifying the map element according to detailed information of the map element corresponding to the map element type and identifier issued by the central server; or in response to a case where a map element is a center line element, a mining truck is performing a task not in a working area and the update type of the map element is a non-delete type, interrupting the current task, and sending a map element type and identifier to be updated to the central server; and adding or modifying the map element according to detailed information of the map element corresponding to the map element type and identifier issued by the central server;

12. The mining truck client according to Claim 10, also being configured to perform the

following operation:

in response to a case where a map element is not a center line element and the update type of

the map element is a delete type, deleting the map element; or

the map element is a non-delete type, sending a map element type and identifier to be updated to

server.