CN111829507B - Dump retaining wall map updating method applied to automatic driving of surface mine - Google Patents
Dump retaining wall map updating method applied to automatic driving of surface mine Download PDFInfo
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- CN111829507B CN111829507B CN202010701659.5A CN202010701659A CN111829507B CN 111829507 B CN111829507 B CN 111829507B CN 202010701659 A CN202010701659 A CN 202010701659A CN 111829507 B CN111829507 B CN 111829507B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/02—Tracing profiles of land surfaces
- G01C7/04—Tracing profiles of land surfaces involving a vehicle which moves along the profile to be traced
Abstract
The utility model provides a dump retaining wall map updating method applied to automatic driving of surface mines, which comprises the following steps: waiting for receiving a retaining wall updating instruction of a refuse dump sent by a truck dispatching system; if the retaining wall updating instruction of the refuse dump is received, scheduling a forklift to repair the terrain of the retaining wall area of the refuse dump to be updated; when a retaining wall finishing signal is received, a scheduling mine card collects point cloud data of a retaining wall area of a finished dumping site; after laser point cloud data uploaded by a mine card are received, calculating a retaining wall updating vector of a dumping site; and after the completion message of updating the retaining wall updating vector of the refuse dump is obtained, fusing and updating the retaining wall high-precision map of the refuse dump by adopting the retaining wall updating vector of the refuse dump. The high-precision automatic extraction method realizes the high-precision automatic extraction of the update vector of the retaining wall update area of the dump, and greatly improves the safety and efficiency of automatic driving under the surface mine scene.
Description
Technical Field
The disclosure relates to the field of automatic driving, in particular to a method for updating a retaining wall map of a dump, which is applied to automatic driving of a surface mine.
Background
The open-air mine is one of the best choices of the automatic driving technology landing scene due to the relatively closed and open environmental characteristics of the open-air mine, the key technology of automatic driving relates to environmental perception, high-precision positioning, decision planning, execution control and the like, wherein the high-precision map plays the functions of high-precision positioning, auxiliary perception, planning, decision making and the like in automatic driving due to the characteristics of high precision, high granularity, instantaneity and the like, and efficient and accurate path planning and safe driving are guaranteed.
Different from a high-precision map of a traditional urban area, the geographic elements of the surface mine are always in a high-frequency updating and changing process along with high-strength earth and stone collection, transportation and unloading, wherein the earth removing operation of the heavy-duty mine truck is one of the key links of the earth and stone operation and is also the most dangerous link. The height difference of the flat plate of the dump of the surface mine is generally 10-20 m, in order to discharge earth and stone to the next level of flat plate as much as possible, the rear wheels are required to be attached to the edge retaining wall of the flat plate when the mine truck reverses, the height of the retaining wall is generally 0.5-0.8 m, and drivers are usually required to judge parking by observing rearview mirrors and sensing the state of a vehicle body.
Real-time accurate positioning and high-precision maps are required for unmanned driving of surface mines. The existing high-precision map is generally oriented to the construction of a relatively regular high-precision map road network in urban areas, and road network elements such as regular lane lines, traffic signs and the like are drawn according to collected laser point clouds and image data, so that the method for drawing and updating the high-precision map for automatic driving in a closed scene, particularly an open mine, is very limited. For example, some existing high-precision map drawing and updating methods measure and draw lane lines based on high-precision track data in combination with pure image data, but the methods are difficult to be applied to mine roads without lane line marks; or high-precision maps are discovered and requested to be updated based on road passenger vehicles, but the method is difficult to be suitable for the positioning and path planning requirements of open areas of strip mines with updating frequency reaching the level of minutes or even the level of seconds. Therefore, the existing method is difficult to realize the automatic updating requirements of automatic driving of the surface mine on the high-precision and high-efficiency dump retaining wall, and a set of high-precision automatic map updating method for the high-precision dump retaining wall with high efficiency and high precision needs to be designed according to the characteristics of automatic driving of the dump operation of the surface mine.
Disclosure of Invention
Technical problem to be solved
The present disclosure provides a method for updating a retaining wall map of a dump applied to automatic driving of a surface mine to at least partially solve the above-mentioned technical problems.
(II) technical scheme
According to one aspect of the disclosure, there is provided a method for updating a retaining wall map of a dump applied to automatic driving of a surface mine, comprising:
waiting for receiving a retaining wall updating instruction of a refuse dump sent by a truck dispatching system;
if the retaining wall updating instruction of the refuse dump is received, scheduling a forklift to repair the terrain of the retaining wall area of the refuse dump to be updated;
when a retaining wall finishing signal is received, scheduling a mining vehicle to collect point cloud data of a retaining wall area of a finished dump;
after laser point cloud data uploaded by a mining vehicle are received, calculating a retaining wall updating vector of a refuse dump;
and after the completion message of updating the retaining wall updating vector of the refuse dump is obtained, fusing and updating the retaining wall high-precision map of the refuse dump by adopting the retaining wall updating vector of the refuse dump.
According to the embodiment of the present disclosure, the calculating the update vector of the retaining wall of the refuse dump includes:
preprocessing original data;
dividing the preprocessed point cloud data by using an RANSAC algorithm, and separating ground point cloud and retaining wall slope point cloud;
dividing the point cloud of the retaining wall slope surface into a multi-section point set according to the width of the soil discharge position by combining the retaining wall of the current soil discharge site and the GIS data of the grouped soil discharge position;
fitting a retaining wall line segment of each segment of point set based on a least square method to obtain a retaining wall line segment set, wherein a slope point cloud with the height higher than the radius 2/3 of the rear tire is selected to participate in fitting;
the retaining wall line segment set is fitted in a serialization way, redundant data segments which are not subjected to retaining wall trimming at two ends are optimized, adjusted and filtered to obtain an updating vector of an updating area of the refuse dump,
and issuing a refuse dump retaining wall updating vector updating completion message through the message middleware.
According to an embodiment of the present disclosure, the preprocessing the raw data includes: clipping based on an updating range, voxel filtering to reduce data volume, Gaussian filtering to remove noise and the like.
According to this disclosed embodiment, adopt the refuse dump barricade to update the vector, fuse and update the high-precision map of refuse dump barricade and include:
and starting a dump map updating service, wherein the map updating service determines an updating start point and an updating stop point based on geometric data of an updating vector by matching the mine map ID, the dump ID and the corresponding retaining wall ID, replaces and fuses updated vector data, releases a new version high-precision map, and broadcasts a map updating message based on the message middleware.
According to the embodiment of the disclosure, the method for updating the retaining wall map of the refuse dump further comprises the following steps:
and after receiving the high-precision map information of the retaining wall of the dump, starting dump dumping level planning service, and planning new marshalling dumping level resources based on the new retaining wall for a truck dispatching system to use.
According to the embodiment of the disclosure, when the truck dispatching system monitors that at least one group of the dumping positions are full or are about to be full, or the dumping position resources are about to be exhausted, the truck dispatching system sends a dumping site retaining wall updating instruction.
According to the embodiment of the disclosure, the scheduling forklift for repairing the regional terrain of the retaining wall of the refuse dump to be updated comprises the following steps:
and calculating the starting and stopping range of the retaining wall to be updated, issuing the starting and stopping range to the forklift terminal, and sending a retaining wall finishing instruction.
According to the embodiment of the disclosure, the dispatching and drawing vehicle acquires point cloud data of a retaining wall area of a trimmed dump, and the point cloud data comprises the following steps:
planning a point cloud acquisition path with a distance of 6.5-8.5 meters along the inner side of the original retaining wall line based on the updating start point, extending a dumping position width to two ends respectively, issuing an acquisition task to an image acquisition vehicle which is closest to the original retaining wall line and has completed or is about to complete dumping operation, sending an instruction to limit the image acquisition vehicle to automatically drive and acquire the laser point cloud data of the retaining wall area to be updated according to the planned acquisition path at a speed not exceeding a preset vehicle speed, and uploading the point cloud data after the acquisition is completed.
According to another aspect of the present disclosure, there is provided a dump wall map updating apparatus applied to surface mine autopilot, comprising:
one or more processors;
a memory for storing one or more programs,
wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method as previously described.
According to another aspect of the present disclosure, there is provided a computer-readable storage medium storing computer-executable instructions for implementing the method as described above when executed.
(III) advantageous effects
According to the technical scheme, the method for updating the retaining wall map of the dump, which is applied to automatic driving of the surface mine, has at least one of the following beneficial effects:
(1) the high-precision automatic extraction of the update vector (the rear wheel parking slope line when the mine truck carries out the dumping) of the retaining wall update area of the dump is realized, and the safety and the efficiency of automatic driving under the surface mine scene are greatly improved;
(2) the mine automatic driving actual operation scene is fully considered, the automation degree is high, the automatic operation process is optimized, the intervention probability of operators is reduced, and the automatic operation efficiency is greatly improved;
(3) according to the actual scene of the earthwork discharging operation, the retaining wall vector boundary of the waste dump does not use the boundary line between the ground and the retaining wall slope, but the slope gradient and the radius of the mine truck wheel are considered, the slope vector line with the radius of the wheel of 2/3 degrees is extracted, the mine truck is safely and accurately stopped during the earthwork discharging operation, and earthwork is discharged into the lower flat plate to the maximum extent.
Drawings
Fig. 1 is a flowchart of a method for updating a retaining wall map of a dump, which is applied to automatic driving of a surface mine according to an embodiment of the present disclosure.
Fig. 2 is a block diagram of a dump wall map updating device applied to automatic driving of a surface mine according to an embodiment of the present disclosure.
Detailed Description
The invention provides a method for updating a retaining wall map of a dump, which is applied to automatic driving of a surface mine.
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
Certain embodiments of the present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the disclosure are shown. Indeed, various embodiments of the disclosure may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements.
In one exemplary embodiment of the present disclosure, a method for updating a retaining wall map of a dump applied to automatic driving of a surface mine is provided.
Fig. 1 is a flowchart of a method for updating a retaining wall map of a dump, which is applied to automatic driving of a surface mine according to an embodiment of the present disclosure. As shown in fig. 1, the method for updating a retaining wall map of a dump, which is applied to automatic driving of a surface mine, of the present disclosure includes:
and step S1, receiving a command for updating the retaining wall of the dump from the truck dispatching system.
After the retaining wall of the dump of the surface mine is updated every time, the control platform can automatically plan a plurality of marshalling dump positions for the truck dispatching system to use, and the truck dispatching system sends a retaining wall updating instruction of the dump to the control platform when monitoring that one or more groups of dump positions are fully arranged or are about to be fully arranged or the resources of the dump positions are about to be exhausted.
And step S2, the dispatching forklift is used for trimming the terrain of the retaining wall area of the refuse dump to be updated.
And after receiving the retaining wall updating instruction of the refuse dump reported by the truck dispatching system, the control platform calculates the starting and stopping range of the retaining wall to be updated, sends the starting and stopping range to the forklift terminal and sends a retaining wall finishing instruction.
And after receiving the designation, the forklift terminal instructs the forklift to finish the retaining wall terrain in the designated area, so that the retaining wall terrain meets the retaining wall standard requirement for the heavy-load mine truck dumping side operation, and a retaining wall finishing completion signal is sent out on the forklift terminal after the completion. For example, whether the retaining wall terrain meets the retaining wall specification requirement for the heavy-duty mine truck earthwork operation or not can be detected through the image sensor, and the processing result of the image is judged.
And step S3, dispatching the mining vehicle to collect point cloud data of the retaining wall area of the trimmed refuse dump.
After the control platform receives a retaining wall finishing signal of a forklift terminal, a point cloud acquisition path with a distance of 6.5-8.5 meters along the inner side of an original retaining wall line is planned based on an updated start point, in order to ensure certain data redundancy, a dumping position width (4.8 meters) is respectively extended to two ends, and an acquisition task is issued to a proper ore card (closest to the distance, completed or about to complete dumping operation).
After the mine card receiving the point cloud acquisition instruction completes the current task (the earthwork operation), automatically driving and acquiring laser point cloud data of a retaining wall area to be updated according to a path planned by the control platform, limiting the vehicle speed to be not more than 6km/h in the acquisition process in order to ensure the point cloud density, and uploading the point cloud data to the control platform after the acquisition is completed.
And step S4, accurately calculating the update vector of the retaining wall of the waste dump.
S401, after receiving laser point cloud data uploaded by a mine card, a control platform firstly preprocesses original data, wherein the preprocessing comprises cutting based on an updating range, voxel filtering to reduce data volume, Gaussian filtering to remove noise and the like;
s402, segmenting the preprocessed point cloud data by using a RANSAC algorithm, and separating ground point cloud and retaining wall slope surface point cloud;
s403, combining the retaining wall of the dump of the current version and the GIS data (GIS: geographic information system) of the marshalling dump, dividing the point cloud of the slope surface of the retaining wall into point sets of one section of 4.8 meters (width of the dump);
s404, fitting a retaining wall line segment of each segment of point set based on a least square method, considering the slope of the retaining wall and the radius of the mine truck wheel and only selecting slope point cloud with the height higher than the radius 2/3 of the rear tire to participate in fitting in order to enable the rear wheel to accurately stop the retaining wall line during the mine truck dumping operation;
s405, serializing the retaining wall line segment set, optimizing, adjusting and filtering redundant data segments which may exist at two ends and are not subjected to retaining wall finishing, finally obtaining an accurate updating vector of a refuse dump updating area, and issuing a refuse dump retaining wall vector updating completion message through a message middleware.
And step S5, fusing and updating the high-precision map of the retaining wall of the refuse dump.
And the control platform starts the update service of the waste dump map after calculating the accurate waste dump retaining wall update vector in the step S4. The map updating service determines an updating start point and an updating stop point based on geometric data of an updating vector by matching a mining area map ID, a refuse dump ID and a corresponding retaining wall ID, replaces and fuses updated vector data, releases a new version high-precision map, and broadcasts a map updating message based on a message middleware. And after receiving the message, the dump site planning service plans a new marshalling dump site resource based on the new retaining wall for the truck dispatching system to use.
The embodiment of the disclosure realizes high-precision automatic extraction of the update vector (the rear wheel parking slope line during ore block dumping) of the retaining wall update area of the dump, and greatly improves the safety and efficiency of automatic driving under the surface mine scene.
In still another exemplary embodiment of the present disclosure, there is provided a dump wall map updating apparatus applied to an automatic driving of a surface mine.
Fig. 2 schematically shows a block diagram of a dump wall map updating apparatus applied to surface mine autopilot according to an embodiment of the present disclosure. The apparatus shown in fig. 2 is only an example and should not bring any limitations to the function and scope of use of the embodiments of the present disclosure.
As shown in fig. 2, the dump wall map updating apparatus 200 applied to the automatic driving of the surface mine includes a processor 210 and a computer-readable storage medium 220. The refuse dump retaining wall map updating apparatus 200 may perform a method according to an embodiment of the present disclosure.
In particular, processor 210 may include, for example, a general purpose microprocessor, an instruction set processor and/or related chip set and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), and/or the like. The processor 210 may also include onboard memory for caching purposes. Processor 210 may be a single processing unit or a plurality of processing units for performing different actions of a method flow according to embodiments of the present disclosure.
Computer-readable storage medium 220, for example, may be a non-volatile computer-readable storage medium, specific examples including, but not limited to: magnetic storage devices, such as magnetic tape or Hard Disk Drives (HDDs); optical storage devices, such as compact disks (CD-ROMs); a memory, such as a Random Access Memory (RAM) or a flash memory; and so on.
The computer-readable storage medium 220 may include a computer program 221, which computer program 221 may include code/computer-executable instructions that, when executed by the processor 210, cause the processor 210 to perform a method according to an embodiment of the disclosure, or any variation thereof.
The computer program 221 may be configured with computer program code, for example, comprising computer program modules. For example, in an example embodiment, code in computer program 221 may include one or more program modules, including, for example, 221A, modules 221B, … …. It should be noted that the division and number of the modules are not fixed, and those skilled in the art may use suitable program modules or program module combinations according to actual situations, so that the processor 210 may execute the method according to the embodiment of the present disclosure or any variation thereof when the program modules are executed by the processor 210.
The present disclosure also provides a computer-readable storage medium, which may be contained in the apparatus/device/system described in the above embodiments; or may exist separately and not be assembled into the device/apparatus/system. The computer-readable storage medium carries one or more programs which, when executed, implement the method according to an embodiment of the disclosure.
So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. Further, the above definitions of the various elements and methods are not limited to the various specific structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by those of ordinary skill in the art.
Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.
In addition, unless steps are specifically described or must occur in sequence, the order of the steps is not limited to that listed above and may be changed or rearranged as desired by the desired design. The embodiments described above may be mixed and matched with each other or with other embodiments based on design and reliability considerations, i.e., technical features in different embodiments may be freely combined to form further embodiments.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, this disclosure is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the present disclosure as described herein, and any descriptions above of specific languages are provided for disclosure of enablement and best mode of the present disclosure.
The disclosure may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. Various component embodiments of the disclosure may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components in the relevant apparatus according to embodiments of the present disclosure. The present disclosure may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present disclosure may be stored on a computer-readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Also in the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (9)
1. A method for updating a retaining wall map of a dump applied to automatic driving of a surface mine comprises the following steps:
waiting for receiving a retaining wall updating instruction of a refuse dump sent by a truck dispatching system;
if the retaining wall updating instruction of the refuse dump is received, scheduling a forklift to repair the terrain of the retaining wall area of the refuse dump to be updated;
when a retaining wall finishing signal is received, scheduling a mining vehicle to collect point cloud data of a retaining wall area of a finished dump;
after laser point cloud data uploaded by a mining vehicle are received, calculating a retaining wall updating vector of a refuse dump;
after the completion message of updating the retaining wall updating vector of the refuse dump is obtained, adopting the retaining wall updating vector of the refuse dump and fusing and updating the retaining wall map of the refuse dump;
calculating the refuse dump retaining wall update vector includes:
preprocessing original data;
dividing the preprocessed point cloud data by using an RANSAC algorithm, and separating ground point cloud and retaining wall slope point cloud;
dividing the point cloud of the retaining wall slope surface into a multi-section point set according to the width of the soil discharge position by combining the retaining wall of the current soil discharge site and the GIS data of the grouped soil discharge position;
fitting a retaining wall line segment of each segment of point set based on a least square method to obtain a retaining wall line segment set, wherein a slope point cloud with the height higher than the radius 2/3 of the rear tire is selected to participate in fitting;
the retaining wall line segment set is fitted in a serialization way, redundant data segments which are not subjected to retaining wall trimming at two ends are optimized, adjusted and filtered to obtain an updating vector of an updating area of the refuse dump,
and issuing a refuse dump retaining wall updating vector updating completion message through the message middleware.
2. The method for updating the retaining wall map of the refuse dump according to claim 1, wherein the preprocessing the original data comprises: clipping based on an updating range, voxel filtering to reduce data volume and Gaussian filtering to remove noise.
3. The method for updating the retaining wall map of the refuse dump according to claim 1, wherein the fusion updating of the retaining wall map of the refuse dump by adopting the retaining wall updating vector comprises the following steps:
and starting a dump map updating service, wherein the map updating service determines an updating start point and an updating stop point based on the geometric data of the updating vector by matching the mine map ID, the dump ID and the corresponding retaining wall ID, replaces and fuses the updated vector data, releases a new version map, and broadcasts a map updating message based on the message middleware.
4. The method for updating a retaining wall map of a refuse dump according to claim 1, wherein the method for updating a retaining wall map of a refuse dump further comprises:
and after receiving the dump retaining wall map message, starting a dump dumping position planning service, and planning a new marshalling dumping position resource based on the new retaining wall for a truck dispatching system to use.
5. The method for updating the retaining wall map of the dump according to claim 1, wherein the truck scheduling system sends a dump retaining wall updating instruction when monitoring that at least one group of dump sites are full or are about to be full, or dump site resources are about to be exhausted.
6. The method for updating the map of the retaining wall of the dump according to claim 1, wherein the scheduling forklift for trimming the regional terrain of the retaining wall of the dump to be updated comprises:
and calculating the starting and stopping range of the retaining wall to be updated, issuing the starting and stopping range to the forklift terminal, and sending a retaining wall finishing instruction.
7. The method for updating the retaining wall map of the refuse dump according to claim 1, wherein the step of collecting point cloud data of the retaining wall area of the refuse dump after finishing by the scheduling and drawing vehicle comprises the following steps:
planning a point cloud acquisition path with a distance of 6.5-8.5 meters along the inner side of the original retaining wall line based on the updating start point, extending a dumping position width to two ends respectively, issuing an acquisition task to an image acquisition vehicle which is closest to the original retaining wall line and has completed or is about to complete dumping operation, sending an instruction to limit the image acquisition vehicle to automatically drive and acquire the laser point cloud data of the retaining wall area to be updated according to the planned acquisition path at a speed not exceeding a preset vehicle speed, and uploading the point cloud data after the acquisition is completed.
8. The utility model provides a be applied to dump barricade map updating device of open mine autopilot, includes:
one or more processors;
a memory for storing one or more programs,
wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-7.
9. A computer-readable storage medium storing computer-executable instructions for implementing the method of any one of claims 1 to 7 when executed.
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| CN113129262B (en) * | 2021-03-12 | 2024-03-29 | 北京易控智驾科技有限公司 | Automatic detection and supplement method and device for soil discharge level, storage medium and electronic equipment |
| CN113256588B (en) * | 2021-05-31 | 2023-04-07 | 西安建筑科技大学 | Real-time updating method for refuse dump and refuse discharge edge line in unmanned strip mine |
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| CN114440859A (en) * | 2022-01-26 | 2022-05-06 | 广州小鹏自动驾驶科技有限公司 | Map updating method and device, computer equipment and storage medium |
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| CN115456383B (en) * | 2022-09-01 | 2023-08-01 | 北京路凯智行科技有限公司 | Surface mine unloading area management and control method and system |
| CN115271566B (en) * | 2022-09-29 | 2022-12-30 | 北京易控智驾科技有限公司 | Method and device for generating soil discharge positions, electronic equipment and storage medium |
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