CN112734918A - Dynamic updating method, device, equipment and medium for platform-side three-dimensional electronic map - Google Patents
Dynamic updating method, device, equipment and medium for platform-side three-dimensional electronic map Download PDFInfo
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- CN112734918A CN112734918A CN202011641594.6A CN202011641594A CN112734918A CN 112734918 A CN112734918 A CN 112734918A CN 202011641594 A CN202011641594 A CN 202011641594A CN 112734918 A CN112734918 A CN 112734918A
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
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- 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
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- 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 discloses a dynamic updating method, a device, equipment and a medium for a platform-side three-dimensional electronic map, wherein the method comprises the following steps: acquiring data acquired by a vehicle-end sensor; preprocessing the data to obtain the latest boundary information and the latest terrain elevation information of the vehicle operation area; calculating the overlapping rate of the current working area and the latest working area and the difference value of the terrain elevation average value of the current working area and the latest working area; and when the overlapping rate is smaller than a preset overlapping rate threshold value or the difference value is larger than a preset difference value threshold value, updating the three-dimensional electronic map at the platform end according to the latest boundary information and the latest terrain elevation information. According to the method provided by the embodiment of the disclosure, the three-dimensional electronic map at the platform end can be dynamically updated, the synchronization of the vehicle-end high-precision map and the platform-end three-dimensional scene live-action display is met, and the scheme is low in cost and high in instantaneity.
Description
Technical Field
The invention relates to the technical field of three-dimensional electronic maps, in particular to a dynamic updating method, a dynamic updating device, a dynamic updating equipment and a dynamic updating medium for a platform-side three-dimensional electronic map.
Background
At present, the application of the platform-end three-dimensional electronic map is an essential part in an automatic driving scene of an open-pit mine area. The key technical difficulty of the application of the three-dimensional live-action map model is how to automatically update the three-dimensional electronic map model in real time according to the requirements of an application scene so as to achieve the purpose of adapting to the three-dimensional electronic map display in the three-dimensional scene service and matching with the current actual scene display.
In the prior art, the three-dimensional electronic map is updated frequently in a mode of acquiring image data again by an unmanned aerial vehicle and reconstructing a three-dimensional model to realize low-frequency model updating, the period is usually about one week, but the technology is not suitable for an open-pit mine scene with high updating frequency due to the fact that the terrain updating period is too long relative to the changing speed of mine geographical information, and the requirement of a mine unmanned scheduling platform for real-time scheduling and monitoring of unmanned operation vehicles cannot be met. In addition, the cost is high and the production period is long by periodically acquiring sensor data and reconstructing the three-dimensional electronic map model by the unmanned aerial vehicle.
Disclosure of Invention
The embodiment of the disclosure provides a method, a device, equipment and a medium for dynamically updating a three-dimensional electronic map at a platform end. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
In a first aspect, an embodiment of the present disclosure provides a method for dynamically updating a three-dimensional electronic map at a platform end, including:
acquiring data acquired by a vehicle-end sensor;
preprocessing the data to obtain the latest boundary information and the latest terrain elevation information of the vehicle operation area;
calculating the overlapping rate of the current working area and the latest working area and the difference value of the terrain elevation average value of the current working area and the latest working area;
and when the overlapping rate is smaller than a preset overlapping rate threshold value or the difference value is larger than a preset difference value threshold value, updating the three-dimensional electronic map at the platform end according to the latest boundary information and the latest terrain elevation information.
In one embodiment, acquiring data collected by the vehicle-end sensor comprises:
unmanned vehicles in the open-pit mine send data collected by the sensor to a server at the platform end through a data transmission device at the vehicle end;
and the platform end acquires data acquired by the vehicle end sensor from the server.
In one embodiment, preprocessing the data to obtain updated boundary information and updated terrain elevation information for the vehicle operating area comprises:
preprocessing the data through an edge detection and region segmentation algorithm to obtain latest road boundary information, loading region boundary information and soil discharge region boundary information of the vehicle;
and obtaining the latest terrain elevation information through the GPS positioning data in the data.
In one embodiment, the region boundary information is vector space data containing polygon nodes.
In one embodiment, before calculating the overlapping ratio between the current working area and the latest working area and the difference between the terrain elevation average value of the current working area and the terrain elevation average value of the latest working area, the method further comprises the following steps:
and acquiring boundary information of the current operation area of the vehicle and terrain elevation information of the current operation area according to the current three-dimensional electronic map of the platform end.
In one embodiment, calculating the difference between the overlap ratio of the current working area and the latest working area and the terrain elevation average value of the current working area and the latest working area comprises:
obtaining the area ranges of the current operation area and the latest operation area through topological calculation, and calculating the overlapping rate according to the area ranges;
and obtaining a terrain elevation average value of the current operation area according to the terrain elevation information of each position point in the current operation area, obtaining a terrain elevation average value of the latest operation area according to the terrain elevation information of each position point in the latest operation area, and calculating an average value difference value according to the obtained average value.
In one embodiment, updating the three-dimensional electronic map of the platform end according to the latest boundary information and the latest terrain elevation information comprises:
displaying a three-dimensional electronic map through a Web browser at a platform end;
and modifying the boundary of the working area of the display interface according to the latest boundary information, and modifying the terrain elevation information of the working area of the display interface according to the latest terrain elevation information.
In a second aspect, an embodiment of the present disclosure provides a dynamic update apparatus for a platform-side three-dimensional electronic map, including:
the acquisition module is used for acquiring data acquired by the vehicle-end sensor;
the preprocessing module is used for preprocessing the data to obtain the latest boundary information and the latest terrain elevation information of the vehicle operation area;
the calculation module is used for calculating the overlapping rate of the current operation area and the latest operation area and the difference value of the terrain elevation average value of the current operation area and the latest operation area;
and the updating module is used for updating the three-dimensional electronic map at the platform end according to the latest boundary information and the latest terrain elevation information when the overlapping rate is smaller than the preset overlapping rate threshold value or the difference value is larger than the preset difference value threshold value.
In a third aspect, the present disclosure provides a dynamic update apparatus for a platform-side three-dimensional electronic map, including a processor and a memory storing program instructions, where the processor is configured to execute the dynamic update method for a platform-side three-dimensional electronic map provided in the foregoing embodiments when executing the program instructions.
In a fourth aspect, the present disclosure provides a computer-readable medium, on which computer-readable instructions are stored, where the computer-readable instructions are executable by a processor to implement the method for dynamically updating a platform-side three-dimensional electronic map provided in the foregoing embodiments.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
according to the dynamic updating method of the platform-side three-dimensional electronic map, the platform-side three-dimensional scene can periodically update the scene display effect, the updating cost is low, the real-time performance is high, the defect that the real-time updating of the platform-side scene cannot be realized because the data of the three-dimensional electronic map cannot be modified is overcome, and the synchronization of the high-precision map of the unmanned operation vehicle and the real-scene display of the three-dimensional scene of the system platform side is realized; the problem of traditional unmanned aerial vehicle repeated collection sensor data come the extravagant scheduling in manpower, the material resources that the update model display effect faces is avoided, and this scheme update frequency is high, and map response speed is fast, and the cost is lower.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a flowchart illustrating a method for dynamically updating a platform-side three-dimensional electronic map according to an exemplary embodiment;
FIG. 2 is a flowchart illustrating a method for dynamically updating a platform-side three-dimensional electronic map according to an exemplary embodiment;
fig. 3 is a schematic structural diagram illustrating a dynamic updating apparatus for a platform-side three-dimensional electronic map according to an exemplary embodiment;
FIG. 4 is a schematic structural diagram illustrating a dynamic update apparatus for a platform-side three-dimensional electronic map according to an exemplary embodiment;
FIG. 5 is a schematic diagram illustrating a computer storage medium in accordance with an exemplary embodiment.
Detailed Description
The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of systems and methods consistent with certain aspects of the invention, as detailed in the appended claims.
In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
According to the method and the device, periodic data acquisition and a series of data processing are carried out on the frequently-changed area by the multi-sensor device carried by the unmanned vehicle, so that frequently-changed area polygon boundary and terrain elevation information are obtained, and the frequently-changed area polygon boundary and the terrain elevation information are uploaded to the platform cloud server through the vehicle-mounted data transmission terminal device to be stored. The platform end judges the change difference value of the current area boundary and the terrain elevation information, when a certain threshold value is met, the original area information is replaced by the new area boundary and elevation average value, namely a polygonal and fixed-depth excavation area is created, the map updating effect is achieved on the basis that the three-dimensional electronic map model data are not changed, and the map updating response speed is higher.
The method for dynamically updating a platform-side three-dimensional electronic map according to the embodiment of the present application will be described in detail below with reference to fig. 1 to 2. Referring to fig. 1, the method specifically includes the following steps.
S101, data collected by a vehicle end sensor are obtained.
In an exemplary scenario, the unmanned working vehicle in the fixed scene of the open-pit mine area is a wide-body vehicle loaded with waste and residue soil, and various sensing sensors, such as a camera, a laser radar, a GPS device and the like, are mounted on the vehicle, so that the surrounding environment of the vehicle can be sensed in real time, the environment mainly focuses on three types of areas, namely a waste loading area, an automatic driving road section and a waste dumping area for dumping and dumping waste, of the working vehicle, and the terrain and the boundary of the areas are updated frequently.
In a possible implementation mode, the unmanned vehicle comprises a vehicle end and a platform end, the vehicle end adopts a set of high-precision map, and the platform end displays a three-dimensional electronic map of a mining area through a Web browser, so that workers in the mining area can conveniently schedule the vehicle and monitor the environment.
In the embodiment of the disclosure, the unmanned working vehicle loaded and calibrated with various sensing sensors collects sensor data in real time in the working process, the series of data is used as a data source of a periodically reconstructed vehicle-side high-precision map to provide results such as global path planning of the vehicle, on one hand, the data collected by the sensors is sent to a server of a platform side through a data transmission device of the vehicle side, and the platform side obtains the data collected by the vehicle-side sensors from the server. Through the data that acquire car end sensor collection, replace unmanned aerial vehicle data collection among the prior art, greatly reduced the cost of scheme, and improved data acquisition's real-time, satisfied the synchronization of car end high-precision map and the show of platform end three-dimensional scene live-action.
S102, preprocessing the data to obtain the latest boundary information and the latest terrain elevation information of the vehicle operation area.
And further, preprocessing data acquired by the vehicle-end sensor, so as to analyze the latest boundary information and terrain elevation information of the working area of the mining area.
In a possible implementation manner, the data collected by the sensor includes data such as laser point cloud data, GPS position data, and the like, and the working area of the mining area mainly includes a road area, a loading area, and a soil discharging area.
The laser point cloud data is preprocessed by an edge detection and region segmentation algorithm, the edge detection algorithm is mainly based on the first and second derivatives of the image intensity, but the calculation of the derivatives is sensitive to noise, so a filter is required to improve the performance of an edge detector related to the noise. It is noted that most filters also result in loss of edge strength while reducing noise, and therefore a trade-off is needed between enhancing edges and reducing noise. After filtering, edge detection can be performed by search-based or zero-crossing-based methods, which first calculate the edge strength, usually expressed as a first derivative, e.g. a gradient mode, and then estimate the local direction of the edge by calculation, usually using the direction of the gradient, and use this direction to find the maximum of the local gradient mode. The zero crossing based approach finds the zero crossing points of the second derivative derived from the image to locate the edges. Usually with the laplace operator or the zero crossing of a non-linear differential equation. Image segmentation can be performed according to edge lines obtained by edge detection, and an image segmentation method based on regions can be utilized, wherein the segmentation method based on regions is a segmentation technology based on directly searching the regions, and the region extraction method has two basic forms: one is region growing, starting from a single pixel, and gradually combining to form a required segmentation region; the other is to cut to the required segmentation area step by step from the global point of view.
The latest road boundary information, loading area boundary information and soil discharge area boundary information of the detected vehicle can be obtained by processing the acquired sensor data, the detected area boundary is a polygon, and the area boundary information is vector space data containing polygon nodes.
Further, the latest terrain elevation information is obtained through the GPS positioning data in the sensor data, wherein the terrain elevation information represents the altitude of the terrain and can be obtained according to the GPS data.
In one embodiment, the latest road boundary information, loading area boundary information, dumping area boundary information and terrain elevation information are acquired periodically, for example, the latest information of a strip mine dumping ground is updated every 12 hours, and the real-time performance of information updating is greatly improved.
S103, calculating the overlapping rate of the current working area and the latest working area and the difference value of the terrain elevation average value of the current working area and the latest working area.
In one possible implementation manner, an original three-dimensional electronic map model is built on a platform side by a GIS (Geographic Information System) platform, and boundary Information of a current operation area of a vehicle and terrain elevation Information of the current operation area are acquired according to a current three-dimensional electronic map of the platform side. And then analyzing and comparing the difference between the boundary information and the terrain elevation information of the current working area and the boundary information and the terrain elevation information of the latest working area.
Specifically, the boundary information difference and the terrain elevation information difference of each local operation area of the strip mine waste dump can be contrasted and analyzed.
For example, the area range of a current operation area is obtained through topology calculation, the area range of the latest operation area is obtained, and then the overlap ratio is calculated according to the area ranges, wherein the smaller the overlap ratio is, the larger the change of the boundary of the latest area is.
The terrain elevation average value of the current operation area can be obtained according to the terrain elevation information of each position point in a certain current operation area, the terrain elevation average value of the latest operation area is obtained according to the terrain elevation information of each position point in the latest operation area, the average value difference value is calculated according to the obtained average value, and if the difference value is larger, the terrain elevation information change is larger.
And S104, when the overlapping rate is smaller than a preset overlapping rate threshold value or the difference value is larger than a preset difference value threshold value, updating the three-dimensional electronic map at the platform end according to the latest boundary information and the latest terrain elevation information.
In an exemplary scenario, if the area overlapping rate calculated according to step S103 is smaller than the preset overlapping rate threshold, it is described that the overlapping rate of the two areas before and after is relatively small, and the change of the boundary information of the latest area is relatively large, at this time, the electronic map needs to be updated again, and the overlapping rate threshold may be set by a person skilled in the art, which is not limited in the embodiment of the present disclosure.
If the difference calculated according to step S103 is greater than the preset difference, it indicates that the change of the terrain elevation information of the front and rear areas is large, at this time, the electronic map needs to be updated again, and the difference threshold may be set by a person skilled in the art, which is not limited specifically in the embodiment of the present disclosure.
When the three-dimensional electronic map needs to be updated, the three-dimensional electronic map is loaded at the Web end, namely the three-dimensional electronic map is displayed through a Web browser at the platform end, then the corresponding operation area boundary of the display interface is modified according to the latest boundary information of a certain area, and the terrain elevation information of the operation area of the display interface is modified according to the latest terrain elevation information. When the three-dimensional electronic map is dynamically updated, the real data of the three-dimensional electronic map model cannot be changed, and the terrain display of other areas of the model cannot be influenced.
In order to facilitate understanding of the method for dynamically updating the platform-side three-dimensional electronic map provided in the embodiment of the present application, the following description is made with reference to fig. 2. As shown in fig. 2, the method includes:
firstly, data acquired by a vehicle-end sensor are acquired, and then the acquired data are preprocessed to obtain local area boundary data and local area terrain elevation data. And storing the obtained data in a cloud server.
And further, acquiring boundary information of the current operation area of the vehicle and terrain elevation information of the current operation area according to the current three-dimensional electronic map of the platform end. And then analyzing and comparing the difference between the boundary information and the terrain elevation information of the current working area and the boundary information and the terrain elevation information of the latest working area.
For example, the area range of a current operation area is obtained by topology calculation, the area range of the latest operation area is obtained, and then the overlap ratio is calculated according to the area ranges. The terrain elevation average value of the current operation area can be obtained according to the terrain elevation information of each position point in a certain current operation area, the terrain elevation average value of the latest operation area is obtained according to the terrain elevation information of each position point in the latest operation area, and the average value difference value is calculated according to the obtained average value.
And further, judging whether the polygon overlapping rate is lower than an overlapping rate threshold value, if so, updating the boundary space node data of the area by the three-dimensional electronic map of the Web end, and if not, not updating the boundary space node data of the area by the electronic map. And then judging whether the elevation difference is larger than a preset difference threshold value, if so, updating the terrain elevation information of the area by the electronic map, and if not, not updating the terrain elevation information of the area by the electronic map. According to the method, the local area in the electronic map can be updated.
According to the method and the device, a vehicle-end high-precision map is reconstructed by using data acquired by multiple sensors loaded on an unmanned vehicle, and meanwhile, a series of algorithms such as data fusion, point cloud data segmentation and region boundary detection are adopted to obtain polygonal node data and terrain elevation data information of a region to be updated, so that the polygonal node data and the terrain elevation data information are uploaded to a cloud server to be stored; on a platform end Web end display layer, a method of adding a local area pressure plane is adopted to change the terrain display effect of the three-dimensional electronic map model, so that the three-dimensional scene display of the three-dimensional electronic map of the specific scene of the platform end is dynamically updated.
According to the dynamic updating method of the platform-side three-dimensional electronic map, the platform-side three-dimensional scene can periodically update the scene display effect, the updating cost is low, the real-time performance is high, the defect that the real-time updating of the platform-side scene cannot be realized because the data of the three-dimensional electronic map cannot be modified is overcome, and the synchronization of the high-precision map of the unmanned operation vehicle and the real-scene display of the three-dimensional scene of the system platform side is realized; the problem of traditional unmanned aerial vehicle repeated collection sensor data come the extravagant scheduling in manpower, the material resources that the update model display effect faces is avoided, and this scheme update frequency is high, and map response speed is fast, and the cost is lower.
The embodiment of the present disclosure further provides a dynamic update device for a platform-side three-dimensional electronic map, where the device is configured to execute the dynamic update method for a platform-side three-dimensional electronic map of the foregoing embodiment, and as shown in fig. 3, the device includes:
the acquisition module 301 is used for acquiring data acquired by a vehicle-end sensor;
the preprocessing module 302 is configured to preprocess the data to obtain latest boundary information and latest terrain elevation information of the vehicle operation area;
the calculating module 303 is configured to calculate an overlapping rate between the current working area and the latest working area and a difference between the terrain elevation average values of the current working area and the latest working area;
and the updating module 304 is configured to update the three-dimensional electronic map at the platform end according to the latest boundary information and the latest terrain elevation information when the overlap ratio is smaller than the preset overlap ratio threshold or the difference is larger than the preset difference threshold.
It should be noted that, when the dynamic update apparatus for a three-dimensional electronic map at a platform end provided in the foregoing embodiment executes a dynamic update method for a three-dimensional electronic map at a platform end, the above-mentioned division of each functional module is merely used as an example, and in practical applications, the above-mentioned function allocation may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the above-mentioned functions. In addition, the dynamic updating device of the platform-side three-dimensional electronic map provided in the above embodiments and the dynamic updating method of the platform-side three-dimensional electronic map belong to the same concept, and the details of the implementation process are described in the method embodiments, which are not described herein again.
The embodiment of the present disclosure further provides an electronic device corresponding to the method for dynamically updating a three-dimensional electronic map at a platform end provided in the foregoing embodiment, so as to execute the method for dynamically updating a three-dimensional electronic map at a platform end.
Referring to fig. 4, a schematic diagram of an electronic device provided in some embodiments of the present application is shown. As shown in fig. 4, the electronic apparatus includes: a processor 400, a memory 401, a bus 402 and a communication interface 403, wherein the processor 400, the communication interface 403 and the memory 401 are connected through the bus 402; the memory 401 stores a computer program that can be executed on the processor 400, and the processor 400 executes the method for dynamically updating the platform-side three-dimensional electronic map provided in any of the foregoing embodiments when executing the computer program.
The Memory 401 may include a high-speed Random Access Memory (RAM) and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 403 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used.
The electronic device provided by the embodiment of the application and the dynamic updating method of the platform-side three-dimensional electronic map provided by the embodiment of the application have the same beneficial effects as the method adopted, operated or realized by the electronic device.
Referring to fig. 5, the computer-readable storage medium is an optical disc 500, on which a computer program (i.e., a program product) is stored, and when the computer program is executed by a processor, the computer program may execute the dynamic update method of the platform-side three-dimensional electronic map provided in any of the foregoing embodiments.
It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory, or other optical and magnetic storage media, which are not described in detail herein.
The computer-readable storage medium provided by the above-mentioned embodiment of the present application and the dynamic updating method of the platform-side three-dimensional electronic map provided by the embodiment of the present application have the same inventive concept, and have the same beneficial effects as the method adopted, run, or implemented by the application program stored in the computer-readable storage medium.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A dynamic updating method for a platform-side three-dimensional electronic map is characterized by comprising the following steps:
acquiring data acquired by a vehicle-end sensor;
preprocessing the data to obtain the latest boundary information and the latest terrain elevation information of the vehicle operation area;
calculating the overlapping rate of the current working area and the latest working area and the difference value of the terrain elevation average value of the current working area and the latest working area;
and when the overlapping rate is smaller than a preset overlapping rate threshold value or the difference value is larger than a preset difference value threshold value, updating the three-dimensional electronic map at the platform end according to the latest boundary information and the latest terrain elevation information.
2. The method of claim 1, wherein acquiring data collected by the vehicle-end sensor comprises:
unmanned vehicles in the open-pit mine send data collected by the sensor to a server at the platform end through a data transmission device at the vehicle end;
and the platform end acquires data acquired by the vehicle end sensor from the server.
3. The method of claim 1, wherein preprocessing the data to obtain updated boundary information and updated terrain elevation information for the vehicle operating area comprises:
preprocessing the data through an edge detection algorithm and a region segmentation algorithm to obtain latest road boundary information, loading area boundary information and soil discharge area boundary information of the vehicle;
and obtaining the latest terrain elevation information through the GPS positioning data in the data.
4. The method of claim 3, wherein the region boundary information is vector space data comprising polygon nodes.
5. The method of claim 1, wherein calculating the difference between the current work area and the latest work area and the average terrain elevation value of the current work area and the latest work area further comprises:
and acquiring boundary information of the current operation area of the vehicle and terrain elevation information of the current operation area according to the current three-dimensional electronic map of the platform end.
6. The method of claim 1, wherein calculating a difference between a current work area overlap and a latest work area and a terrain elevation average of the current work area and the latest work area comprises:
obtaining the area ranges of the current operation area and the latest operation area through topological calculation, and calculating the overlapping rate according to the area ranges;
and obtaining a terrain elevation average value of the current operation area according to the terrain elevation information of each position point in the current operation area, obtaining a terrain elevation average value of the latest operation area according to the terrain elevation information of each position point in the latest operation area, and calculating an average value difference value according to the obtained average value.
7. The method of claim 1, wherein updating a platform-side three-dimensional electronic map based on the updated boundary information and updated terrain elevation information comprises:
displaying a three-dimensional electronic map through a Web browser at a platform end;
and modifying the boundary of the working area of the display interface according to the latest boundary information, and modifying the terrain elevation information of the working area of the display interface according to the latest terrain elevation information.
8. A dynamic updating device for a platform-side three-dimensional electronic map is characterized by comprising:
the acquisition module is used for acquiring data acquired by the vehicle-end sensor;
the preprocessing module is used for preprocessing the data to obtain the latest boundary information and the latest terrain elevation information of the vehicle operation area;
the calculation module is used for calculating the overlapping rate of the current operation area and the latest operation area and the difference value of the terrain elevation average value of the current operation area and the latest operation area;
and the updating module is used for updating the three-dimensional electronic map at the platform end according to the latest boundary information and the latest terrain elevation information when the overlapping rate is smaller than a preset overlapping rate threshold value or the difference value is larger than a preset difference value threshold value.
9. A device for dynamically updating a platform-side three-dimensional electronic map, comprising a processor and a memory storing program instructions, the processor being configured to perform the method for dynamically updating a platform-side three-dimensional electronic map according to any one of claims 1 to 7 when executing the program instructions.
10. A computer readable medium having stored thereon computer readable instructions executable by a processor to implement a method for dynamically updating a platform-side three-dimensional electronic map according to any one of claims 1 to 7.
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Cited By (3)
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