CN115170755A - Method and device for constructing three-dimensional map based on unmanned vehicle - Google Patents
Method and device for constructing three-dimensional map based on unmanned vehicle Download PDFInfo
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Abstract
The invention provides a method and a device for constructing a three-dimensional map based on an unmanned vehicle, and relates to the technical field of three-dimensional map construction. The method comprises the steps of obtaining two-dimensional position and elevation information of a boundary of a target area, and obtaining track information and elevation information of a basic route; then performing elevation interpolation based on at least part of the elevation information of the boundary and at least part of the elevation information of the basic route to obtain a three-dimensional map of the target area; and in use, determining a fixed route and a variable route that the unmanned vehicle is required to travel within the target area, and causing the unmanned vehicle to travel along the fixed route and the variable route to progressively approach the boundary. And when the unmanned vehicle gradually approaches the boundary, updating the boundary of the three-dimensional map, and finally constructing and updating the three-dimensional map without utilizing equipment such as a laser radar and a vision sensor, so that the requirements of the unmanned vehicle on operation and transportation are met.
Description
Technical Field
The invention relates to the technical field of three-dimensional map construction, in particular to a method and a device for constructing a three-dimensional map based on an unmanned vehicle, a computer-readable storage medium and electronic equipment.
Background
In the unmanned scene of the open coal mine, the construction of the three-dimensional map is very important and is a precondition for the operation and transportation of the unmanned vehicle.
However, most of the existing unmanned driving in the open pit coal mine focuses on the earth and rock peeling transportation link, and the specific scheme is that real-time sensing is carried out by relying on a laser radar, a vision sensor and the like so as to determine a driving area and ensure driving safety.
However, the above scheme cannot be applied to a coal mining transportation link, the reason is that in a coal mining operation area range, the reflection intensity of coal to a laser radar is low, so that the sensing capability of the laser radar is disabled, meanwhile, a large amount of coal ash in the coal mining area makes the road surface, the retaining wall and the like difficult to realize scene segmentation and recognition in a visual mode, and as the actual boundary of the operation area changes along with the operation of the mining and loading equipment, the three-dimensional map of the operation area needs to be updated in time, so that the coal mining transportation link is caused, and the construction and updating of the three-dimensional map are difficult in a traditional mode.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a method and a device for constructing a three-dimensional map based on an unmanned vehicle, a computer readable storage medium and an electronic device, which solve the problem that the construction and the updating of the three-dimensional map are difficult in the traditional mode in the coal mining transportation link.
(II) technical scheme
In order to realize the purpose, the invention is realized by the following technical scheme:
in a first aspect, a method for constructing a three-dimensional map based on an unmanned vehicle is provided, and the method comprises the following steps:
acquiring two-dimensional position information of a boundary of a target area and elevation information of the boundary,
acquiring track information and elevation information of a basic route in the target area;
performing elevation interpolation on the boundary and the track information based on at least part of the elevation information of the boundary and at least part of the elevation information of the basic route to obtain a three-dimensional map of the target area;
determining a fixed route which the unmanned vehicle needs to travel in a target area based on the three-dimensional map and the track information of the basic route;
automatically generating a variable route for the unmanned vehicle to travel in a target area by a local trajectory planning method based on the real-time state of the unmanned vehicle, the real-time position of equipment cooperating with the unmanned vehicle or the boundary of the current three-dimensional map;
wherein the unmanned vehicle travels along the fixed route and the variable route to gradually approach the boundary. Updating the boundary of the three-dimensional map as the unmanned vehicle approaches the boundary.
Further, updating the boundary of the three-dimensional map includes: and updating the position information and the elevation information of the three-dimensional map.
Further, the step of bringing the unmanned vehicle closer to the boundary includes: the bounding box of the unmanned vehicle intersects the boundary of the three-dimensional map.
Furthermore, the two-dimensional position information of the boundary, the elevation information of the boundary, the track information of the basic route and the elevation information of the basic route are all acquired by a movement device with a positioning function.
Further, the base route includes a part of the fixed route or the whole fixed route;
and the fixed route comprises at least part of a driving route of the unmanned vehicle from the entrance of the coal mining working area to the waiting position.
Further, the method further comprises:
and when the movement device with the positioning function runs in the three-dimensional map, updating the elevation information in the three-dimensional map in real time based on the elevation information of the movement device with the positioning function.
Further, the sport device with the positioning function is an unmanned vehicle with a GPS positioning function.
In a second aspect, an apparatus for constructing a three-dimensional map based on an unmanned vehicle is provided, the apparatus comprising:
the boundary information acquisition module is used for acquiring two-dimensional position information of a boundary of a target area and elevation information of the boundary;
the basic route information acquisition module is used for acquiring track information and elevation information of a basic route in the target area;
the elevation difference module is used for conducting elevation interpolation on the boundary and the track information based on at least part of elevation information of the boundary and at least part of elevation information of the basic route to obtain a three-dimensional map of the target area;
a fixed route determination module for determining a fixed route that the unmanned vehicle needs to travel in the target area based on the three-dimensional map and the trajectory information of the base route;
the variable route determining module is used for automatically generating a variable route for the unmanned vehicle to travel in a target area through a local track planning method based on the real-time state of the unmanned vehicle, the real-time position of equipment cooperating with the unmanned vehicle or the boundary of the current three-dimensional map;
wherein the unmanned vehicle travels along the fixed route and the variable route to gradually approach the boundary;
and the map updating module is used for updating the boundary of the three-dimensional map when the unmanned vehicle gradually approaches the boundary.
In a third aspect, a computer-readable storage medium is provided, which stores a computer program for constructing a three-dimensional map based on an unmanned vehicle, wherein the computer program causes a computer to execute the above-mentioned method for constructing a three-dimensional map based on an unmanned vehicle.
In a fourth aspect, an electronic device is provided, comprising:
one or more processors;
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the above-described method of constructing a three-dimensional map based on an unmanned vehicle.
(III) advantageous effects
The invention provides a method and a device for constructing a three-dimensional map based on an unmanned vehicle. Compared with the prior art, the method has the following beneficial effects:
the method comprises the steps of obtaining two-dimensional position information of a boundary of a target area and elevation information of the boundary, and obtaining track information and elevation information of a basic route in the target area; then performing elevation interpolation on the boundary and the track information based on at least part of elevation information of the boundary and at least part of elevation information of the basic route to obtain a three-dimensional map of the target area; and in use, determining a fixed route and a variable route that the unmanned vehicle is required to travel within the target area, causing the unmanned vehicle to travel along the fixed route and the variable route to progressively approach the boundary. And when the unmanned vehicle gradually approaches the boundary, updating the boundary of the three-dimensional map, and finally constructing and updating the three-dimensional map without utilizing equipment such as a laser radar, a vision sensor and the like, so that the requirements of the unmanned vehicle on operation and transportation are met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of the present invention;
fig. 2 is a schematic diagram of coal mining transportation operation according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the 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.
The embodiment of the application provides a method and a device for constructing a three-dimensional map based on an unmanned vehicle, a computer-readable storage medium and an electronic device, and solves the problem that the construction and updating of the three-dimensional map are difficult in a traditional mode in a coal mining transportation link.
In order to solve the technical problems, the general idea of the embodiment of the present application is as follows:
aiming at the characteristics of a coal mining transportation operation scene, the patent provides an unmanned vehicle-based three-dimensional map construction and updating method which is suitable for unmanned engineering application in a coal mining transportation operation link and has low requirements on a sensor.
In order to better understand the technical scheme, the technical scheme is described in detail in the following with reference to the attached drawings of the specification and specific embodiments.
Example 1:
as shown in fig. 1, the present invention provides a method for constructing a three-dimensional map based on an unmanned vehicle, the method comprising:
acquiring two-dimensional position information of a boundary of a target area and elevation information of the boundary,
acquiring track information and elevation information of a basic route in the target area;
performing elevation interpolation on the boundary and the track information based on at least part of the elevation information of the boundary and at least part of the elevation information of the basic route to obtain a three-dimensional map of the target area;
determining a fixed route which the unmanned vehicle needs to travel in a target area based on the three-dimensional map and the track information of the basic route;
automatically generating a variable route for the unmanned vehicle to travel in a target area by a local trajectory planning method based on the real-time state of the unmanned vehicle, the real-time position of equipment cooperating with the unmanned vehicle or the boundary of the current three-dimensional map;
wherein the unmanned vehicle travels along the fixed route and the variable route to gradually approach the boundary. Updating the boundary of the three-dimensional map as the unmanned vehicle approaches the boundary gradually.
The invention can be used in any area in principle, without requiring an area. But generally used in areas that laser radar can not collect or in scenes with low elevation precision requirements on three-dimensional maps.
The beneficial effect of this embodiment does:
the method comprises the steps of obtaining two-dimensional position information of a boundary of a target area and elevation information of the boundary, and obtaining track information and elevation information of a basic route in the target area; then performing elevation interpolation on the boundary and the track information based on at least part of elevation information of the boundary and at least part of elevation information of the basic route to obtain a three-dimensional map of the target area; and in use, determining a fixed route and a variable route that the unmanned vehicle is required to travel within the target area, and causing the unmanned vehicle to travel along the fixed route and the variable route to progressively approach the boundary. And when the unmanned vehicle gradually approaches the boundary, updating the boundary of the three-dimensional map, and finally constructing and updating the three-dimensional map without utilizing equipment such as a laser radar, a vision sensor and the like, so that the requirements of the unmanned vehicle on operation and transportation are met.
As shown in fig. 2, the following describes in detail the implementation process of the embodiment of the present invention, taking a coal mining transportation operation scenario as an example:
the noun explains:
a coal mining operation area: representing the area of coal mining operations (also called the loading area), in which mining equipment (such as excavators, electric shovels, etc.) perform the excavation of the coal mine, and are loaded onto transportation equipment (such as manned trucks, unmanned mine cars) and transported by the transportation equipment to the discharge area.
Waiting for positioning: when the loading equipment is loaded with the existing transportation equipment, waiting at a waiting position after other transportation equipment enters a coal mining operation area;
loading position: the parking position of the transportation equipment when the loading equipment loads the transportation equipment for the coal mine;
the operation flow is as follows:
(1) Selecting a proper area as a coal mining operation area according to a production plan;
(2) Forming a three-dimensional map of the coal mining operation area by using the method for the selected coal mining operation area;
(3) Forming a high-precision three-dimensional map for other areas such as roads, discharge areas and the like by adopting a laser radar acquisition mode;
(4) And the transportation equipment automatically circulates and works among the coal mining operation area, the road and the discharge area, and automatically updates the three-dimensional map of the coal mining operation area according to the position of the vehicle when the loading position is loaded.
S1, acquiring two-dimensional position information of a boundary of a target area and elevation information of the boundary, and acquiring track information and elevation information of a basic route in the target area.
In specific implementation, the target area is a coal mining operation area, the coal mining operation area comprises a variable area and a fixed area, the variable area can be a peripheral area where the collecting equipment is located, and the fixed area can be an area from the coal mining operation area to the loading position where vehicles enter the coal mining operation area in the coal mining operation area.
In this embodiment, the obtaining manner of the boundary two-dimensional position information of the target area is not limited, and for example, the boundary two-dimensional position information may be obtained by performing coordinate mapping according to the coal mining operation area boundary in the CAD drawing of the coal mining operation area. When no CAD drawing exists, the method can also be used for obtaining the data in the following mode:
s101, enabling a motion device with a positioning function to move along the boundary of the target area to obtain the boundary two-dimensional position information of the target area.
In specific implementation, the form of the movement device with the positioning function is not limited in this embodiment, for example, the movement device may be a collection vehicle carrying a GPS device, and the collection vehicle may be an unmanned vehicle, so that the collection vehicle can travel along the boundary of the coal mining operation area, and the boundary two-dimensional information position of the coal mining operation area is obtained based on the GPS positioning data in the traveling process.
In addition, the obtaining of the track information and the elevation information of the base route in the target area may specifically include the following steps:
s102, taking a running route of a movement device with a positioning function in a coal mining operation area as a basic route;
s103, track information of a driving route of the movement device with the positioning function in the coal mining operation area and elevation information of a basic route are obtained.
When the method is specifically implemented, the movement device with the positioning function is driven on a basic route, and the GPS is used for acquiring positioning data corresponding to a preset path, so that corresponding track information and elevation information can be obtained. Similarly, the embodiment of the method for obtaining the basic route is not limited, and only one feasible method is given below to implement:
according to the leveling condition of the road and the working surface of the working site of the coal mining working area, a route suitable for the unmanned vehicle to run is determined by site production personnel to be used as a basic route, and the basic route can be a running route from the entrance of the coal mining working area to the loading position of a movement device with a positioning function in consideration of larger subsequent change of the loading position area; of course, if a coal mining operation area is large or an area with large elevation information change exists, the acquisition vehicle is also required to be used for acquisition, so that elevation information interpolation can be performed subsequently, and a more accurate three-dimensional map can be obtained.
S2, performing elevation interpolation on the boundary and the track information based on at least part of elevation information of the boundary and at least part of elevation information of the basic route to obtain a three-dimensional map of the target area.
In specific implementation, at least part of the boundary, the basic route and the elevation information at the position with larger elevation change, which are obtained in the two steps, are subjected to elevation interpolation on the whole two-dimensional map in an interpolation mode, so that three-dimensional map data with elevation information can be obtained.
The interpolation mode can adopt the schemes of integral interpolation, block interpolation, inverse distance weight interpolation and the like, and the common inverse distance weight interpolation is compared. The main principle is that for each point which is expected to acquire elevation data, the distance between the point and the existing surrounding elevation data points is acquired, and the final weight of the expected point is obtained by taking the power value of the reciprocal of the distance as the weight.
S3, determining a fixed route which needs to be driven by the unmanned vehicle in a target area based on the three-dimensional map and the track information of the basic route; and automatically generating a variable route for the unmanned vehicle to travel in the target area by a local track planning method based on the real-time state of the unmanned vehicle, the real-time position of equipment cooperating with the unmanned vehicle or the boundary of the current three-dimensional map.
Specifically, when the movement device of the positioning function is an unmanned collection vehicle, the travel route may be divided based on a variable area and a fixed area of the coal mining work area, and then divided into a variable route and a fixed route.
The fixed route can also be a driving route of the vehicle from the coal mining area entrance to the loading position, and the like, and the variable route can also be a route of the vehicle from the loading position to the loading position, and the like. The fixed route is basically unchanged, so that the fixed route can be used as a part of a driving route of the unmanned vehicle. And for the variable route, the variable route can be automatically generated by a vehicle or a scheduling platform according to the real-time state of the vehicle, the position of equipment such as collecting and installing equipment and a map boundary, wherein the equipment is cooperated with the unmanned vehicle. When the unmanned vehicle approaches the installation equipment located on the map boundary along the fixed route and the variable route, the map is not a high-precision map generated by data such as radar, so that safety is still guaranteed by various sensors such as ultrasonic radar and millimeter wave radar in order to guarantee safety. When the vehicle enters the loading position, the sensors can not only avoid obstacles, but also roughly judge the position of a working retaining wall loaded in a coal mine, and the data can be used for automatically updating a map at the back.
And S4, updating the three-dimensional map.
In specific implementation, as the operation advances, the map boundary near the loading position of the collecting and loading equipment changes. In order to realize continuous mining, loading and transporting operation of a coal mine, a map needs to be updated continuously. And the scheme comprises elevation information updating of the internal area of the three-dimensional map and updating of the boundary of the three-dimensional map:
1) Updating elevation information of an internal area of the three-dimensional map:
and updating the elevation information of the three-dimensional map in real time based on the acquired elevation information of the motion device with the positioning function.
Specifically, if the motion device with the positioning function is an unmanned acquisition vehicle, the acquisition vehicle can acquire the GPS data in real time when traveling in the three-dimensional map, and can acquire the latest elevation data from the GPS data to replace the elevation data of the position in the original three-dimensional map.
2) Updating the boundary of the three-dimensional map:
firstly, acquiring elevation information and bounding box position information corresponding to a movement device with a positioning function; when the bounding box intersects with the boundary of the three-dimensional map, the actual position of the motion device is beyond the boundary of the three-dimensional map, so that the boundary of the three-dimensional map can be updated at the moment; finally, the elevation information of the boundary can be updated based on the elevation information of the motion device with the positioning function acquired in real time.
A specific scenario is as follows:
the motion device having the positioning function is a collection vehicle, and the unmanned vehicle travels along the fixed route and the variable route to gradually approach the boundary. Before entering the loading position, the mining and loading equipment is interacted to obtain a proper loading position, for example, the position is previously dug by the mining equipment, and the regional boundary of the part is expanded, so that the boundary needs to be updated. And in the whole process that the vehicle runs to the loading position, the vehicle judges the relation between the positioning position of the vehicle and the map boundary in real time, if the bounding box of the vehicle is intersected with the map boundary, the boundary of the map is directly updated, and meanwhile, the elevation information of the vehicle is filled in the whole updated boundary range.
Example 2:
an apparatus for constructing a three-dimensional map based on an unmanned vehicle, the apparatus comprising:
the boundary information acquisition module is used for acquiring two-dimensional position information of a boundary of a target area and elevation information of the boundary;
the basic route information acquisition module is used for acquiring track information and elevation information of a basic route in the target area;
the elevation difference module is used for conducting elevation interpolation on the boundary and the track information based on at least part of elevation information of the boundary and at least part of elevation information of the basic route to obtain a three-dimensional map of the target area;
a fixed route determination module for determining a fixed route that the unmanned vehicle needs to travel in the target area based on the three-dimensional map and the trajectory information of the base route;
the variable route determining module is used for automatically generating a variable route for the unmanned vehicle to travel in a target area through a local track planning method based on the real-time state of the unmanned vehicle, the real-time position of equipment cooperating with the unmanned vehicle or the boundary of the current three-dimensional map;
wherein the unmanned vehicle travels along the fixed route and the variable route to gradually approach the boundary;
and the map updating module is used for updating the boundary of the three-dimensional map when the unmanned vehicle gradually approaches the boundary.
Example 3:
a computer-readable storage medium storing a computer program for constructing a three-dimensional map based on an unmanned vehicle, wherein the computer program causes a computer to execute the steps of:
acquiring two-dimensional position information of a boundary of a target area and elevation information of the boundary,
acquiring track information and elevation information of a basic route in the target area;
performing elevation interpolation on the boundary and the track information based on at least part of the elevation information of the boundary and at least part of the elevation information of the basic route to obtain a three-dimensional map of the target area;
determining a fixed route which the unmanned vehicle needs to travel in a target area based on the three-dimensional map and the track information of the basic route;
automatically generating a variable route for the unmanned vehicle to travel in a target area by a local trajectory planning method based on the real-time state of the unmanned vehicle, the real-time position of equipment cooperating with the unmanned vehicle or the boundary of the current three-dimensional map;
wherein the unmanned vehicle travels along the fixed route and the variable route to gradually approach the boundary. Updating the boundary of the three-dimensional map as the unmanned vehicle approaches the boundary.
Example 4:
an electronic device, comprising:
one or more processors;
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the steps of:
acquiring two-dimensional position information of a boundary of a target area and elevation information of the boundary,
acquiring track information and elevation information of a basic route in the target area;
performing elevation interpolation on the boundary and the track information based on at least part of the elevation information of the boundary and at least part of the elevation information of the basic route to obtain a three-dimensional map of the target area;
determining a fixed route which the unmanned vehicle needs to travel in a target area based on the three-dimensional map and the track information of the basic route;
automatically generating a variable route for the unmanned vehicle to travel in a target area by a local trajectory planning method based on the real-time state of the unmanned vehicle, the real-time position of equipment cooperating with the unmanned vehicle or the boundary of the current three-dimensional map;
wherein the unmanned vehicle travels along the fixed route and the variable route to gradually approach the boundary. Updating the boundary of the three-dimensional map as the unmanned vehicle approaches the boundary gradually.
It can be understood that the apparatus, the computer-readable storage medium, and the electronic device for constructing a three-dimensional map based on an unmanned vehicle provided in the embodiment of the present invention correspond to the above method for constructing a three-dimensional map based on an unmanned vehicle, and the explanation, the example, the beneficial effects, and other parts of the relevant contents may refer to the corresponding contents in the method for constructing a three-dimensional map based on an unmanned vehicle, and are not repeated here.
In summary, compared with the prior art, the invention has the following beneficial effects:
the method comprises the steps of obtaining two-dimensional position information of a boundary of a target area and elevation information of the boundary, and obtaining track information and elevation information of a basic route in the target area; and performing elevation interpolation on the boundary and the track information based on at least part of the elevation information of the boundary and at least part of the elevation information of the basic route to obtain a three-dimensional map of the target area.
In use, a fixed route and a variable route which are required to be traveled by the unmanned vehicle in the target area are determined, and the unmanned vehicle is caused to travel along the fixed route and the variable route to gradually approach the boundary. And when the unmanned vehicle gradually approaches the boundary, updating the boundary of the three-dimensional map, and finally constructing and updating the three-dimensional map without utilizing equipment such as a laser radar, a vision sensor and the like, so that the requirements of the unmanned vehicle on operation and transportation are met.
It should be noted that, through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments. In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for constructing a three-dimensional map based on an unmanned vehicle is characterized by comprising the following steps:
acquiring two-dimensional position information of a boundary of a target area and elevation information of the boundary,
acquiring track information and elevation information of a basic route in the target area;
performing elevation interpolation on the boundary and the track information based on at least part of the elevation information of the boundary and at least part of the elevation information of the basic route to obtain a three-dimensional map of the target area;
determining a fixed route which the unmanned vehicle needs to travel in a target area based on the three-dimensional map and the track information of the basic route;
automatically generating a variable route for the unmanned vehicle to travel in a target area by a local trajectory planning method based on the real-time state of the unmanned vehicle, the real-time position of equipment cooperating with the unmanned vehicle or the boundary of the current three-dimensional map;
wherein the unmanned vehicle travels along the fixed route and the variable route to gradually approach the boundary. Updating the boundary of the three-dimensional map as the unmanned vehicle approaches the boundary gradually.
2. The method of constructing a three-dimensional map based on an unmanned vehicle of claim 1, wherein updating the boundaries of the three-dimensional map comprises: and updating the position information and the elevation information of the three-dimensional map.
3. The method of constructing a three-dimensional map based on an unmanned vehicle of claim 1, wherein the unmanned vehicle approaching the boundary comprises: the bounding box of the unmanned vehicle intersects the boundary of the three-dimensional map.
4. The method for constructing the three-dimensional map based on the unmanned vehicle as claimed in claim 1, wherein the two-dimensional position information of the boundary, the elevation information of the boundary, the trajectory information of the base route, and the elevation information of the base route are obtained by a moving device having a positioning function.
5. The method for constructing a three-dimensional map based on an unmanned vehicle according to claim 4, wherein the base route includes a part of the fixed route or the whole fixed route;
and the fixed route comprises at least part of a driving route of the unmanned vehicle from the entrance of the coal mining working area to the waiting position.
6. The method of constructing a three-dimensional map based on an unmanned vehicle of claim 1, the method further comprising:
when the moving device with the positioning function runs in the three-dimensional map, updating the elevation information in the three-dimensional map in real time based on the elevation information of the moving device with the positioning function.
7. The method for constructing a three-dimensional map based on the unmanned vehicle as claimed in claim 4 or 6, wherein said motion device with positioning function is an unmanned vehicle with GPS positioning function.
8. An apparatus for constructing a three-dimensional map based on an unmanned vehicle, the apparatus comprising:
the boundary information acquisition module is used for acquiring two-dimensional position information of a boundary of a target area and elevation information of the boundary;
the basic route information acquisition module is used for acquiring track information and elevation information of a basic route in the target area;
the elevation difference module is used for conducting elevation interpolation on the boundary and the track information based on at least part of elevation information of the boundary and at least part of elevation information of the basic route to obtain a three-dimensional map of the target area;
a fixed route determination module for determining a fixed route that the unmanned vehicle needs to travel in the target area based on the three-dimensional map and the trajectory information of the base route;
the variable route determining module is used for automatically generating a variable route for the unmanned vehicle to travel in a target area through a local track planning method based on the real-time state of the unmanned vehicle, the real-time position of equipment cooperating with the unmanned vehicle or the boundary of the current three-dimensional map;
wherein the unmanned vehicle travels along the fixed route and the variable route to gradually approach the boundary;
and the map updating module is used for updating the boundary of the three-dimensional map when the unmanned vehicle gradually approaches the boundary.
9. A computer-readable storage medium, characterized in that it stores a computer program for constructing a three-dimensional map based on an unmanned vehicle, wherein the computer program causes a computer to execute the method of constructing a three-dimensional map based on an unmanned vehicle according to any one of claims 1 to 7.
10. An electronic device, comprising:
one or more processors;
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the method of constructing a three-dimensional map based on an unmanned vehicle of any of claims 1-7.
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| CN116518960A (en) * | 2023-06-28 | 2023-08-01 | 腾讯科技（深圳）有限公司 | Road network updating method, device, electronic equipment and storage medium |
| CN116518960B (en) * | 2023-06-28 | 2023-09-26 | 腾讯科技（深圳）有限公司 | Road network updating method, device, electronic equipment and storage medium |
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