CN112393736A - Automatic updating system and method for strip mine map - Google Patents
Automatic updating system and method for strip mine map Download PDFInfo
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- CN112393736A CN112393736A CN202010337437.XA CN202010337437A CN112393736A CN 112393736 A CN112393736 A CN 112393736A CN 202010337437 A CN202010337437 A CN 202010337437A CN 112393736 A CN112393736 A CN 112393736A
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- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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Abstract
The invention belongs to the technical field of electronic map updating, and relates to an automatic updating system and method for a strip mine map. An automatic open pit map updating system, comprising: the map updating system comprises a data acquisition device, a communication transmission device, a map updating system and a map storage system; the data acquisition device is used for acquiring running positioning information of the mining equipment during working; the communication transmission device is used for transmitting the collected mine equipment running positioning information to the map updating system; the map updating system runs on the CPU server and is used for processing the running positioning information of the wide mountain equipment and generating a new retaining wall boundary; and the map storage system updates and updates the boundary map of the waste dump by using the new retaining wall boundary and stores the updated map. Compared with the prior art, the method can adapt to an open outdoor scene, completes real-time updating of the waste dump map on the basis of not influencing the working efficiency of the mining equipment, and is low in cost and simple in calculation of the whole system.
Description
Technical Field
The invention belongs to the technical field of electronic map updating, and relates to an automatic updating system and method for a strip mine map.
Background
The technical scheme of map updating in the prior art is mainly based on the research of remote sensing mapping technology, and the remote sensing mapping technology can effectively realize the map updating service. However, in the field of unmanned mines, the retaining wall boundary of a refuse dump has a requirement for real-time updating, and due to the fact that the accuracy of a remote sensing mode is not high and the cost is high, the remote sensing method is not suitable for scenes with frequently updated maps. On the other hand, the updating of the map of the refuse dump has the characteristic of spacious ground, and the method for updating the map based on the position information is more effective and practical in the scene. Therefore, the method for updating the map based on the position information in the unmanned mine driving area is more widely applied.
Publication No. CN201610274070.5 proposes a method and apparatus for updating an online map using an unmanned vehicle. The method comprises the following steps: scanning a road where an unmanned vehicle is currently located by using a sensor installed on the unmanned vehicle to acquire real-time road information; sending a map information acquisition request to a background server of an online map, wherein the map information acquisition request comprises position information of the unmanned vehicle; detecting whether the real-time road information is consistent with the map information returned by the background server; in the case of inconsistency, the detected map distinction information is sent back. The map updating method can effectively update the map, but the real-time property of the map updating method is difficult to meet the requirement of frequent updating of the mine dump map, and the cost of the map updating method is relatively high. The publication with the application number of CN201810333301.4 provides a full-automatic map building and updating method and an online distribution method of a large-scale passable area map based on a multiline laser radar. The method comprises the steps that map construction and updating are achieved through a collection vehicle equipped with a multi-line laser radar, a map construction result is uploaded to a server for maintenance, the server distributes high-precision maps of passable areas around the unmanned vehicles through responding to online requests of the unmanned vehicles, decision and planning references are provided for unmanned driving, and a sensor system of the unmanned vehicles is supplemented or even partially replaced. However, complex operation processing is required for mapping by using the laser radar, a mining area is relatively open, and the effect of updating the map of the refuse dump based on the mapping mode of the laser radar is poor. In addition, the cost of multi-line laser radar map acquisition is high.
Disclosure of Invention
The invention discloses a system and a method for updating a surface mine map by utilizing mine equipment positioning information, which aim to solve the problems that in the prior art, a map updating mode is not suitable for open scenes, especially special scenes such as surface mines and the like, and the real-time performance is poor. The scheme can complete the map updating of the refuse dump in real time on the basis of not influencing the working efficiency of the mining equipment.
In order to solve the technical problem of the present invention, the present invention first provides an automatic update system of a strip mine map, comprising: the map updating system comprises a data acquisition device, a communication transmission device, a map updating system and a map storage system;
the data acquisition device is used for acquiring running positioning information of mining equipment;
the communication transmission device is used for transmitting the collected mine equipment running positioning information to the map updating system;
the map updating system runs on the CPU server and is used for calculating and processing the mine equipment running positioning information to generate a new retaining wall boundary;
and the map storage system updates and updates the boundary map of the waste dump by using the new retaining wall boundary and stores the updated map.
As a preferred mode of the present invention, the data acquisition device employs a combined inertial navigation system.
In another preferred embodiment of the present invention, the communication transmission device is a V2X device.
In another preferred embodiment of the present invention, the map storage system is a postgresql database.
In order to solve the technical problem, the invention also provides an automatic updating method of the strip mine map, which comprises the following steps:
the data acquisition device acquires running positioning information of mining equipment;
the communication transmission device transmits the running positioning information of the mining equipment to the map updating system in real time;
the map updating system receives the positioning information of the mining equipment in real time, and carries out calculation processing on the positioning information to generate a new retaining wall boundary;
and the map storage system updates the refuse dump boundary map by using the new retaining wall boundary and stores the updated map.
Further preferably, the processing for calculating the positioning information includes:
generating a reference boundary, and sampling the reference boundary at fixed distance intervals to obtain a series of reference boundary point sampling positions;
calculating the distance between the position of the mining equipment and the position of the sampling point aiming at each sampling point of the reference boundary, and selecting the position of the mining equipment with the closest distance as a new boundary position point;
fitting a series of new boundary position points to obtain a running boundary of the mining equipment;
and combining the initial retaining wall boundary line and the running boundary of the mining equipment, and selecting the boundary line which is close to the outer edge of the earth discharge field after the initial retaining wall boundary line and the running boundary are crossed to generate a new retaining wall boundary.
Further preferably, the reference boundary is obtained by shifting the initial boundary outward by 2 meters.
Further preferably, the distance between the mining equipment position and the sampling point position is calculated by the following formula:
di＝min[(xi-xj′)2+(yi-yj′)2]1/2
wherein (x)i，yi) Is the abscissa and ordinate of the ith sample point of the reference boundary, (x)j′，yj') the position point coordinates of the mining equipment, and j represents the j-th mining equipment position point.
Further preferably, the generated new retaining wall boundary is smoothed by adopting a Savitzky-Golay filtering algorithm to obtain a smoothed new retaining wall boundary.
According to the method, the mine equipment running boundary is obtained through processing by utilizing the running positioning information of the mine equipment during working, the running boundary is compared with the initial boundary, a lined boundary of the waste dump wall is generated, and the map of the waste dump is updated in real time. Compared with the prior art, the method can adapt to an open outdoor scene, and completes real-time updating of the map of the refuse dump on the basis of not influencing the working efficiency of the mining equipment. The problem that the real-time dynamic updating of the map of the refuse dump is difficult is effectively solved. The whole system is low in cost and simple in calculation, and an effective solution is provided for automatic operation of the unmanned mine waste dump.
Drawings
Fig. 1 is a block diagram of an automatic open-pit map updating system in an embodiment of the present invention;
fig. 2 is a flowchart of an automatic update method of a surface mine map according to an embodiment of the present invention;
FIG. 3 is a schematic view of the creation of a new retaining wall in an embodiment of the present invention; in the figure: 1: an initial boundary; 2: a reference boundary; 3: the driving boundary of the mining equipment.
Detailed Description
The technical solutions of the present invention will be described and explained in detail with reference to the accompanying drawings and embodiments, it is to be understood that the specific embodiments are provided only to make the technical solutions of the present invention easier for those skilled in the art to understand, and the technical solutions of the present invention are not limited to the specific embodiments provided, but also include other embodiments besides the specific embodiments.
One embodiment provided by the invention is as follows: an automatic update system for a map of a strip mine is shown in fig. 1 and mainly comprises a data acquisition device, a communication transmission device, a map update system and a map storage system.
The embodiment utilizes a data acquisition device arranged on any model of bulldozer (or other mining equipment such as an excavator, a scraper, a mine truck and the like) as retaining wall boundary information acquisition equipment of a mine scene to acquire retaining wall boundary position information of a mine dump. The data acquisition device is a combined inertial navigation system, in order to better acquire the positioning information of the bulldozer, the combined inertial navigation system is installed on the top of the cockpit of the bulldozer in the embodiment, a positioning mode of integrating a differential GPS and inertial navigation is adopted, and the typical positioning accuracy can reach the centimeter level.
The communication transmission device is V2X equipment, and V2X equipment is also installed on the bulldozer, so that the bulldozer has wireless information transmission capability, and can upload the positioning information of the bulldozer, which is acquired by the combined inertial navigation system, to the map updating system in real time.
The map updating system runs on a CPU server, performs coordinate conversion of the bulldozer driving positioning information and conversion of the position of the rear edge of the scraper knife on the server containing the GPU, then calculates the distance between the position of the rear edge of the scraper knife and a retaining wall reference boundary, screens out some boundary points closest to the reference boundary, and combines the initial retaining wall boundary to fit the boundary points to generate a new retaining wall boundary. And in order to ensure that the generated retaining wall boundary is smooth, smoothing the newly generated retaining wall boundary to obtain a final new retaining wall boundary.
The map storage system is a postgresql database, runs on the CPU server, updates the boundary of the retaining wall of the dump with the generated new retaining wall boundary, and stores the updated mine map.
The second embodiment provided by the invention is as follows: an automatic updating method for a map of a strip mine is described by taking a bulldozer as an example, and the flow is shown in fig. 2, and the method comprises the following specific steps:
1. acquiring the running positioning information of the bulldozer in a mine dump by a combined inertial navigation system in the data acquisition device;
2. transmitting the collected mining equipment running positioning information to a CPU (central processing unit) server through V2X equipment and storing the information;
3. and the map updating system running on the CPU server converts the received bulldozer driving positioning information into the position of the back edge of the blade. The position information obtained by the combined inertial navigation system is the position information of the center of the rear axle of the bulldozer, and position conversion is required to obtain the position information of the rear edge position of the blade.
The calculation method is as follows:
Pw＝RPb+t
wherein: pw＝[xw yw zw]TCoordinate values representing the rear edge of the bulldozer blade in a world coordinate system;
Pb＝[xb yb zb]Trepresenting the offset of the rear edge of the shovel blade to inertial navigation in a bulldozer body coordinate system;
t＝[xt yt zt]Tand represents the offset of the inertial navigation coordinate system in the world coordinate system.
R is a conversion formula for converting the Euler angle into a rotation matrix, and is shown as the following formula:
wherein, alpha, beta and gamma are attitude angles of inertial navigation.
4. The reference boundary generation and the position point sampling are used for determining the boundary points of the bulldozer operation driving in combination with the reference boundary, because the boundary points of the bulldozer driving in each bulldozer operation cannot be directly determined. The reference boundary is obtained by translating the initial boundary outward by 2 meters as shown in fig. 3. Sampling the reference boundary at fixed distance intervals to obtain a series of reference boundary points,
5. and calculating the distance between the rear edge position of the scraper knife and the sampling point aiming at each position sampling point of the calculated reference boundary, wherein the Euclidean distance is used as a calculation standard, and the calculation formula is as follows:
di＝min[(xi-xj′)2+(yi-yj′)2]1/2
wherein (x)i，yi) Is the abscissa and ordinate of the ith sample point of the reference boundary, (x)j′，yj') is the position point coordinate of the back edge of the scraper knife, j represents the position point of the back edge of the jth scraper knife, the distance between the back edge of the scraper knife and the sampling point is calculated, and the point d with the minimum distance is selectediAs a new boundary point for the sample point. This is performed for all sample points, resulting in a series of new boundary sample points.
6. The driving boundary of the bulldozer is generated by fitting a series of new boundary sampling points, as shown in FIG. 3.
7. Combining the initial retaining wall boundary line and the running boundary of the bulldozer, selecting a boundary line which is close to the outer edge of the earth discharge site after the initial retaining wall boundary line and the running boundary are crossed, and generating a new retaining wall boundary;
8. and smoothing the generated retaining wall boundary by adopting a Savitzky-Golay filtering algorithm to obtain a smooth retaining wall boundary.
9. And updating the dump boundary map according to the smoothed retaining wall boundary and storing the dump boundary map in a postgresql database.
The automatic updating system and method for the surface mine map are suitable for various mining equipment, such as bulldozers, excavators, scrapers, mine trucks and the like, so that the map updating of the mining equipment in the loading area in the same way on the basis of the method is still within the protection scope of the invention.
Claims (9)
1. An automatic update system for a strip mine map, comprising: the map updating system comprises a data acquisition device, a communication transmission device, a map updating system and a map storage system;
the data acquisition device is used for acquiring running positioning information of mining equipment;
the communication transmission device is used for transmitting the collected mine equipment running positioning information to the map updating system;
the map updating system is used for calculating and processing the mine equipment running positioning information to generate a new retaining wall boundary;
and the map storage system is used for storing and updating the mine map.
2. The automatic open-pit map updating system of claim 1, wherein the data acquisition device employs a combined inertial navigation system.
3. The automatic update system of a surface mine map of claim 1, wherein the communication transmission device is a V2X device.
4. The automatic open-pit map updating system of claim 1, wherein the map storage system is a postgresql database.
5. An automatic updating method of a strip mine map is characterized by comprising the following steps:
the data acquisition device acquires running positioning information of mining equipment;
the communication transmission device transmits the running positioning information of the mining equipment to the map updating system in real time;
the map updating system receives the positioning information of the mining equipment in real time, and carries out calculation processing on the positioning information to generate a new retaining wall boundary;
and the map storage system updates the refuse dump boundary map by using the new retaining wall boundary and stores the updated map.
6. The method of claim 5, wherein the processing of the location information calculation includes:
generating a reference boundary, and sampling the reference boundary at fixed distance intervals to obtain a series of reference boundary point sampling positions;
calculating the distance between the position of the mining equipment and the position of the sampling point aiming at each sampling point of the reference boundary, and selecting the position of the mining equipment with the closest distance as a new boundary position point;
fitting a series of new boundary position points to obtain a running boundary of the mining equipment;
and combining the initial retaining wall boundary line and the running boundary of the mining equipment, and selecting the boundary line which is close to the outer edge of the earth discharge field after the initial retaining wall boundary line and the running boundary are crossed to generate a new retaining wall boundary.
7. The method of claim 6, wherein the reference boundary is shifted outward by 2 meters from the initial boundary.
8. The automatic update method of the surface mine map according to claim 6, wherein the distance between the mining equipment location and the sampling point location is calculated by the formula:
di＝min[(xi-xj′)2+(yi-yj′)2]1/2
wherein (x)i，yi) Is the abscissa and ordinate of the ith sample point of the reference boundary, (x)j′，yj') the position point coordinates of the mining equipment, and j represents the j-th mining equipment position point.
9. The automatic update method of the strip mine map according to claim 6, characterized in that the Savitzky-Golay filtering algorithm is adopted to smooth the generated new wall boundary to obtain a smooth new wall boundary.
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| CN113256588A (en) * | 2021-05-31 | 2021-08-13 | 西安建筑科技大学 | Real-time updating method for refuse dump and refuse disposal edge line in unmanned strip mine |
| CN113516715A (en) * | 2021-07-15 | 2021-10-19 | 上海高仙自动化科技发展有限公司 | Target area inputting method and device, storage medium, chip and robot |
| CN113656420A (en) * | 2021-08-05 | 2021-11-16 | 湖南大学 | Map updating method and device |
| CN113932791A (en) * | 2021-09-15 | 2022-01-14 | 江苏徐工工程机械研究院有限公司 | Method and system for collecting map of loading and unloading operation area of strip mine area |
| CN114322993A (en) * | 2022-03-08 | 2022-04-12 | 江苏徐工工程机械研究院有限公司 | Method and system for generating loading area map of unmanned transport system of surface mine |
| CN117760412A (en) * | 2023-08-16 | 2024-03-26 | 北京路凯智行科技有限公司 | Mining area high-precision map making device with hierarchical updating function |
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| CN117760412B (en) * | 2023-08-16 | 2024-06-07 | 北京路凯智行科技有限公司 | Mining area high-precision map making device with hierarchical updating function |
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