CN117419704A - Map area updating method and system for surface mine loading area - Google Patents
Map area updating method and system for surface mine loading area Download PDFInfo
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Abstract
The invention discloses a map area updating method and a map area updating system for an open mine loading area, wherein the method comprises the following steps: acquiring initial global map data of a loading area, and dividing area boundary lines and area attributes; acquiring local map data of a working end; calculating the flatness of the working end according to the acquired local map data of the working end; according to the acquired local map data of the working end, the regional boundary lines and the regional attributes, adopting an improved ray casting method to execute different probability updating strategies for different regions, and obtaining updated local map data of the working end; according to the updated working end local map data and the working end flatness, constructing a global map and performing earth volume change calculation; dividing the updated region boundary line and region attribute according to the constraint conditions of the global map, the flatness of the working end and the region boundary. The method can accurately and finely divide the updated region boundary line and the updated region attribute, and has simple operation and small calculated amount.
Description
Technical Field
The invention belongs to the technical field of engineering machinery, and particularly relates to a map area updating method and system for a loading area of an open mine.
Background
With the development of intelligent technology, the traditional mining industry will gradually go to unmanned. On one hand, the mining industry is a high-risk industry, and unmanned application is urgent to fall to the ground. On the other hand, the mechanical operation in the mine scene has singleness and repeatability, the mine road dynamic uncontrollable factors are few, and the method is suitable for unmanned application.
Autonomous mining trucks in a mining environment are required to autonomously perform corresponding tasks in work scenarios such as driving, loading and unloading areas, which place high demands on the interactivity of the autonomous mining truck with the environment in which it is located. The method solves the problems, and has the primary task of realizing the positioning of the unmanned mine card and the scene map construction of the surrounding environment. The GNSS technology can solve the problem of positioning the unmanned mine card by measuring the absolute position at a certain place, and can realize scene map construction by using environment sensing sensors such as a laser radar and the like.
The road in the mining area environment is an unstructured road with the characteristics of multiple curves, high gradient, large concave-convex variation of the road surface and the like. These roads are relatively ambiguous with respect to the surrounding environment, for example, the driving environment of a mine truck may be accompanied by cliffs, walls, etc., for which it is necessary to plan a safe driving range. By detecting the region of the unstructured road environment, the change state of the unstructured road environment can be tracked according to different change frequencies of different regions. For the scene of low road change frequency of the travelable area, the tracking of the environment change state can be reduced so as to save operation resources. For the high dynamic property of the materials in the loading area, the capability of calculating the earthwork and dynamically updating the map is particularly important, and the unmanned mining truck should dynamically update the point cloud map in real time while realizing the automatic driving function based on the map, and realize the automatic calculation of the earthwork according to the updated result, but the prior art cannot simultaneously meet the requirements.
Patent CN114708218A discloses a road surface flatness detection calculation method. According to the method, road surface data are obtained through a panoramic camera, a relatively flat road surface is selected as a target base surface, the data of the target base surface and the data of the surface to be detected are extracted, the image data are quasi-converted into three-dimensional coordinate data, and the three-dimensional data of the road surface to be detected are compared and calculated according to a reference target, so that the flatness of the road surface to be detected and the position coordinates of a defect part are accurately determined. However, on the one hand, this method requires a better a priori road surface data, and it is difficult to find a relatively flat road surface directly on unstructured roads of the mine without fitting. On the other hand, the method involves converting flatness data recorded by a camera into three-dimensional coordinates, so that the calculation complexity of an algorithm is improved, and the flatness data obtained by the camera is easily influenced by illumination.
Patent CN114001678A discloses a road surface flatness detection method based on a vehicle-mounted laser radar. Acquiring point cloud data obtained by scanning a road surface by a laser radar, filtering the point cloud data to obtain a first point cloud set, and fitting the first point cloud set to obtain a fitting straight line; downsampling the point cloud data to obtain a second point cloud set, and obtaining a plurality of unilateral distance extreme points according to the second point cloud set and the fitting straight line; determining a road surface reference line according to the plurality of unilateral distance extreme points, wherein the road surface reference line is equivalent to a virtual three-meter ruler; and finally, determining the flatness of the road surface according to the road surface reference straight line and the point cloud data. However, on one hand, the process of fitting the road surface datum line is complex, two times of fitting are needed according to the least square method and the unilateral distance extreme points, and larger errors are possible; on the other hand, using a straight line instead of a plane as a reference may miss part of the road surface information, resulting in incomplete road surface data covered by the road surface flatness calculation.
Patent CN114037800a provides a method of octree map construction. Pre-integrating the acceleration information and the angular velocity information to obtain current pose information of the laser radar sensor, and carrying out distortion correction on point cloud data through the current pose information; and detecting characteristic points of data in the point cloud by a curvature method, performing scene association calculation on pose transformation information of the laser radar sensor and position information of the current point cloud in space by using the characteristic points, and creating and updating an octree map according to the pose transformation information and the position information. The octree map updating requires calculating all idle grids in the three-dimensional grids through ray casting, so that the calculated amount is greatly increased when the laser point is far away from the sensor. However, in the actual data, the real change frequency is high in the working area near the excavator, and for the environment with low remote change frequency, the calculation resources are wasted greatly when light projection is performed each time, so that the problem of how to reasonably allocate the calculation resources according to the change rate of the environment needs to be solved.
Patent CN114612525a screens static map points on a key frame by using an octree map ray traversal method, updates a sparse point cloud map, and ensures positioning accuracy. And realizing real-time construction and updating of the static octree map of the scene. However, the method of adopting the light projection method for constructing the local map at the vehicle end can cause the phenomenon of plane disappearance when updating the map, because the laser radar is usually placed in a vertical direction on the vehicle in order to ensure a larger visual field range, and the problem of false deletion caused by overlarge included angle between the light of the laser radar and the road surface during data acquisition is caused, so how to improve the problem is also needed to be solved.
Patent CN113963050a relates to a point cloud based earth volume calculation method. The method comprises the steps of obtaining terrain point cloud data and a design plane, and dividing the point cloud data into a plurality of heights Cheng Ouyu; respectively calculating the average value of the point cloud height coordinates in a plurality of heights Cheng Ouyu to obtain the average elevation of the elevation area; dividing a design plane into a plurality of polygons; judging the heights Cheng Ouyu of the vertexes of the polygons, and acquiring the average elevation of the elevation areas of the vertexes of the polygons as the average elevation of the vertexes of the polygons; obtaining the calculated elevation of the polygon through the average elevation of the polygon vertexes; and obtaining the earthwork through the areas of the polygons and the calculated elevation, and judging whether the earthwork is the excavation amount or the filling amount according to the positive and negative of the earthwork. However, the earth volume calculation method adopted by the method is complex, and a large measurement error may exist due to the adoption of multiple divisions and the measurement of the elevation. The traditional earth and stone square measurement mainly adopts measuring instruments such as total stations or GPS-RTK, and the like to acquire ground point data for measurement, so that the method is large in workload, time-consuming and labor-consuming, and particularly for areas with complex terrains, the data measurement process is more difficult, and therefore, the selection of efficient automatic data acquisition and processing modes is very important.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a map area updating method and a map area updating system for an open pit loading area, which can accurately and finely divide updated area boundary lines and area attributes, and are simple to operate and small in calculated amount.
The invention provides the following technical scheme:
in a first aspect, a map area updating method for an open mine loading area is provided, including:
acquiring initial global map data of a loading area, and dividing area boundary lines and area attributes;
acquiring local map data of a working end;
calculating the flatness of the working end according to the acquired local map data of the working end;
according to the acquired local map data of the working end, the regional boundary lines and the regional attributes, adopting an improved ray casting method to execute different probability updating strategies for different regions, and obtaining updated local map data of the working end;
according to the updated working end local map data and the working end flatness, constructing a global map and performing earth volume change calculation;
dividing the updated region boundary line and region attribute according to the constraint conditions of the global map, the flatness of the working end and the region boundary.
Further, the working end comprises one or more of an unmanned mining card, an excavating machine and an auxiliary working vehicle.
Further, the local map data of the working end comprise point cloud data for completing time synchronization, working state data of the acquisition unit and attribute data of a current road.
Further, the method for calculating the flatness of the working end comprises the following steps:
denoising and ground segmentation are sequentially carried out on point cloud data in the local map data of the working end, so that a reference horizontal plane is obtained;
transversely and longitudinally grid partitioning is carried out on point cloud data in a safety range of an operation end, and each area is marked and numbered according to the sequence of firstly transversely and then longitudinally;
extracting a central point in each area, and calculating a vector and a distance from the central point to a reference horizontal plane;
setting region dividing conditions according to the vector and distance change from the central point to the reference horizontal plane, and connecting grids in each region according to a four-neighborhood mode to form region blocks;
and carrying out flatness judgment and grading according to the regional division conditions.
Further, the area dividing condition includes:
distances L1, L2, L3, L4 and L5 from the center point to the reference plane, wherein L1 represents that the flatness is in the negative, L2 represents that the flatness is in the negative small, L3 represents that the flatness is in the positive small, L4 represents that the flatness is in the middle, and L5 represents that the flatness is in the positive large;
each area block has minimum circumscribed polygonal area and proportion of the area to the whole area, and outputs three-dimensional coordinates of the boundary line;
and the minimum circumscribed polygonal area of the combined area L2 and L3 and the proportion of the minimum circumscribed polygonal area to the whole area are output, and the three-dimensional coordinates of the boundary line are output.
Further, the method for determining and classifying the flatness according to the area dividing condition comprises the following steps:
l1 accounts for no more than 5%, and the flatness is negative, which represents a pit which cannot be used;
the proportion of L2 is 30-40%, the flatness is small, and the pit represents a common movable pit;
the proportion of L3 is 30-40%, the flatness is small, and the L3 represents a common movable bulge;
l4 accounts for 1% -5%, the flatness is the center, representing obstacles and ruts;
l5 accounts for 30% -40%, the flatness is positive, representing the retaining wall;
the proportion of the combined area of L2 and L3 is 30-40%, and the flatness is positive and represents the falling stone area.
Further, the method for obtaining the updated local map data of the working end comprises the following steps:
preprocessing the obtained local map data of the working end, including gridding point cloud data, denoising the point cloud data and synchronizing time to obtain preprocessed point cloud data;
dividing the preprocessed point cloud data into areas;
traversing the preprocessed point cloud data of different areas according to an improved ray casting method, and extracting idle and occupied grids in each area;
different probabilities are set for different areas, and the mapping and updating of the different areas are realized.
Further, the zone boundaries at least comprise excavated zone boundaries, retaining wall boundaries, mountain boundaries, rockfall zone boundaries and exercisable zone boundaries.
Further, the constraint condition of the excavation area boundary at least comprises: the maximum height of the area with the flatness L5 detected by the unmanned mine card is not more than 0.5m; the flatness detected by the unmanned mining card is the area L5, and the minimum length of the continuous area is 5m; the excavating machinery detects that the proportion of the combined area of L2 and L3 is more than 50 percent;
the constraint conditions of the retaining wall boundary at least comprise: the maximum change of the ground curvature detected by the unmanned mining card does not exceed a set range; the maximum height of the area with the flatness L5 detected by the unmanned mine card is not more than 1.5m; the flatness detected by the unmanned mining card is the area L5, and the minimum length of the continuous area is 10m;
the constraint conditions of the mountain boundary at least comprise: the maximum change of the ground curvature detected by the unmanned mining card does not exceed a set range; the maximum height of the area with the flatness L5 detected by the unmanned mine card exceeds 1.5m; area with flatness L5 detected by unmanned mining card, and minimum length of continuous area is 10m
The constraint conditions of the boundary of the falling stone zone at least comprise: the unmanned mining card detects that the proportion of the combined area of the L2 and the L3 is 30-40 percent; the boundary change range of the falling stone area does not exceed a set value; the minimum obstacle size does not exceed a set point; the minimum pit depth does not exceed a set value;
the constraint condition of the exercisable area boundary at least comprises: the maximum change of the ground curvature detected by the unmanned mining card does not exceed a set range; simultaneously meets the conditions of L1, L2, L3, L4 and L5; the maximum width of the road surface is 1.5-2 times of the vehicle width; the minimum obstacle size does not exceed a set point; the minimum pit depth does not exceed a set value.
In a second aspect, there is provided a map area updating system for an open mine loading area, comprising:
the initial data acquisition and processing unit is used for acquiring initial global map data of the loading area and dividing area boundary lines and area attributes;
the operation end data acquisition unit is used for acquiring operation end local map data;
the working end flatness calculation unit is used for calculating the working end flatness according to the acquired working end local map data;
the operation end local map updating unit is used for carrying out different probability updating strategies on different areas by adopting an improved ray casting method according to the acquired operation end local map data, the area boundary lines and the area attributes to obtain updated operation end local map data;
the map management end global map management unit is used for constructing a global map according to the updated local map data of the working end and the flatness of the working end;
the map management end region dividing unit is used for dividing the updated region boundary line and region attribute according to the constraint conditions of the global map, the flatness of the working end and the region boundary.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the method, the flatness of the working end is calculated according to the acquired local map data of the working end, and then the flatness is used for constructing a global map and dividing updated region boundary lines and region attributes, so that parameter basis is provided for further finely dividing regions;
(2) According to the acquired local map data of the working end and the region boundary line and region attribute divided based on the initial global map data, the method adopts an improved light projection method to carry out different probability updating strategies on different regions to obtain the updated local map data of the working end, thereby being beneficial to accurately dividing the regions and having small calculated amount;
(3) According to the method, a global map is constructed and earthwork change calculation is carried out according to the updated working end local map data and the working end flatness, and further, according to constraint conditions of the global map, the working end flatness and the region boundary, the updated region boundary line and the region attribute are divided, the division is fine, and the divided region boundary less comprises an excavation region boundary, a retaining wall boundary, a mountain boundary, a falling stone region boundary and a movable region boundary.
Drawings
FIG. 1 is a flow chart of a map area update method for a loading area of a surface mine in an embodiment of the invention;
FIG. 2 is a flow chart of calculating the flatness of a work end according to an embodiment of the present invention;
FIG. 3 is a flow chart of the local map data update at the working end in an embodiment of the invention;
FIG. 4 is a schematic view of partitioning a cloud partition of an operation endpoint according to an embodiment of the present invention;
FIG. 5 is a schematic view of the loading area division in an embodiment of the present invention;
fig. 6 is a block diagram of a map area update system for a loading area of a surface mine in an embodiment of the invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Example 1
As shown in fig. 1, the present embodiment provides a map area updating method for a loading area of an opencast mine, which includes the following steps:
and step 1, acquiring initial global map data of the loading area, and dividing area boundary lines and area attributes.
The operation end firstly collects initial global map data of the loading area, the operation end comprises unmanned mining cards, excavating machinery and other auxiliary operation vehicles, and the vehicles are combined with multiple sensors, and output initial global point cloud map data of the loading area after fusion.
And 2, acquiring local map data of the working end.
The local map data of the working end comprise point cloud data for completing time synchronization, and the working state data of the acquisition unit and attribute data such as gradient, marking points, boundary curvature, obstacle coordinates and the like of the current road.
And step 3, calculating the flatness of the working end according to the acquired local map data of the working end. As shown in fig. 2, the specific method is as follows:
and 3.1, sequentially denoising and ground segmentation are carried out on point cloud data in the local map data of the working end, so as to obtain a reference horizontal plane.
And 3.2, transversely and longitudinally dividing the point cloud data in the safety range of the working end into grid blocks, and marking and numbering each block of area according to the sequence of firstly transversely and then longitudinally.
And 3.3, extracting a central point in each area, and calculating the vector and the distance from the central point to a reference horizontal plane.
And 3.4, setting region dividing conditions according to the vector and distance change from the central point to the reference horizontal plane, and connecting grids in each region in a four-neighborhood mode to form region blocks.
The region dividing condition includes:
(1) Distances L1, L2, L3, L4 and L5 from the center point to the reference plane, wherein L1 represents that the flatness is in the negative, L2 represents that the flatness is in the negative small, L3 represents that the flatness is in the positive small, L4 represents that the flatness is in the middle, and L5 represents that the flatness is in the positive large;
(2) Each area block has minimum circumscribed polygonal area and proportion of the area to the whole area, and outputs three-dimensional coordinates of the boundary line;
(3) And the minimum circumscribed polygonal area of the combined area L2 and L3 and the proportion of the minimum circumscribed polygonal area to the whole area are output, and the three-dimensional coordinates of the boundary line are output.
And 3.5, carrying out flatness judgment and grading according to the region dividing conditions. The specific method comprises the following steps:
(1) L1 accounts for no more than 5%, and the flatness is negative, which represents a pit which cannot be used;
(2) The proportion of L2 is 30-40%, the flatness is small, and the pit represents a common movable pit;
(3) The proportion of L3 is 30-40%, the flatness is small, and the L3 represents a common movable bulge;
(4) L4 accounts for 1% -5%, the flatness is the center, representing obstacles and ruts;
(5) L5 accounts for 30% -40%, the flatness is positive, representing the retaining wall;
(6) The proportion of the combined area of L2 and L3 is 30-40%, and the flatness is positive and represents the falling stone area.
And 4, according to the acquired local map data of the working end and the region boundary line and the region attribute, adopting an improved ray casting method to execute different probability updating strategies for different regions, and obtaining updated local map data of the working end. As shown in fig. 3, the specific method is as follows:
and 4.1, preprocessing the obtained local map data of the working end, namely gridding the point cloud data, denoising and time synchronizing the point cloud map data of the unmanned mining card, the mining machinery and the auxiliary working vehicle of the working end, which are scanned for the first time, and obtaining preprocessed point cloud data.
And 4.2, dividing the preprocessed point cloud data into areas.
As shown in fig. 4, the boundary a represents a mountain boundary, the boundary B represents a boundary where the combined area of L2 and L3 is located, the boundary C represents a boundary where L5 is located, and only the area between the boundary B and the boundary C is a exercisable area. According to the boundary attribute, the point clouds of different grids of the working end can be divided into different areas.
And 4.3, respectively traversing the preprocessed point cloud data of different areas according to an improved ray casting method, and extracting idle and occupied grids in each partial area.
And 4.4, setting different probabilities for different areas, and updating the local map data of the working end.
And carrying out confidence updating on the grids extracted by the improved ray casting method according to the idle and occupied states by adopting a static binary Bayesian method, and realizing the effects of removing moving objects and processing noise points by adopting a probability updating mode. And selecting a high-probability updating value in a driving area and a mining area, and selecting a low-probability updating value in a non-driving area, so as to realize the mapping and updating of different areas.
And 5, constructing a global map and calculating the change of the earthwork according to the updated local map data of the working end and the flatness of the working end.
And 6, dividing the updated region boundary line and region attribute according to the constraint conditions of the global map, the working end flatness and the region boundary. The final results are shown in FIG. 5.
The zone boundaries at least comprise an excavation zone boundary, a retaining wall boundary, a mountain boundary, a falling stone zone boundary and a movable zone boundary.
The constraint conditions of the excavation area boundary at least comprise:
(1) The maximum height of the area with the flatness L5 detected by the unmanned mine card is not more than 0.5m;
(2) The flatness detected by the unmanned mining card is the area L5, and the minimum length of the continuous area is 5m;
(3) The excavating machinery detects that the proportion of the combined area of the L2 and the L3 is more than 50 percent.
The constraint conditions of the retaining wall boundary at least comprise:
(1) The maximum change of the ground curvature detected by the unmanned mining card does not exceed a set range;
(2) The maximum height of the area with the flatness L5 detected by the unmanned mine card is not more than 1.5m; (3) The flatness detected by the unmanned mining card is L5, and the minimum length of the continuous area is 10m. The constraint conditions of the mountain boundary at least comprise:
(1) The maximum change of the ground curvature detected by the unmanned mining card does not exceed a set range;
(2) The maximum height of the area with the flatness L5 detected by the unmanned mine card exceeds 1.5m;
(3) The flatness detected by the unmanned mining card is L5, and the minimum length of the continuous area is 10m. The constraint conditions of the boundary of the falling stone zone at least comprise:
(1) The unmanned mining card detects that the proportion of the combined area of the L2 and the L3 is 30-40 percent;
(2) The boundary change range (expansion or contraction) of the falling stone area does not exceed a set value;
(3) The minimum obstacle size does not exceed a set point;
(4) The minimum pit depth does not exceed a set point (including ruts and pits).
The constraint condition of the exercisable area boundary at least comprises:
(1) The maximum change of the ground curvature detected by the unmanned mining card does not exceed a set range;
(2) Simultaneously meets the conditions of L1, L2, L3, L4 and L5;
(3) The maximum width of the road surface is 1.5-2 times of the vehicle width;
(4) The minimum obstacle size does not exceed a set point;
(5) The minimum pit depth does not exceed a set point (including ruts and pits).
Example 2
As shown in fig. 6, the present embodiment provides a map area updating system for a loading area of an open mine, including: the system comprises an initial data acquisition and processing unit, a working end data acquisition unit, a working end flatness calculation unit, a working end local map updating unit, a map management end global map management unit and a map management end area dividing unit;
and the initial data acquisition and processing unit is used for acquiring the initial global map data of the loading area and dividing the area boundary line and the area attribute.
In some other embodiments, the map management side global map management unit and the map management side area dividing unit may serve as the initial data acquisition and processing unit. Specifically, the map management end global map management unit is used for acquiring initial global map data of the loading area, and the map management end area dividing unit is used for dividing area boundary lines and area attributes.
The working end data acquisition unit is used for acquiring the working end local map data. The local map data of the working end comprise point cloud data for completing time synchronization, and the working state data of the acquisition unit and attribute data such as gradient, marking points, boundary curvature, obstacle coordinates and the like of the current road.
And the working end data acquisition unit is used for acquiring the working end local map data from the data acquisition unit.
And the working end flatness calculation unit is used for calculating the working end flatness according to the acquired working end local map data so as to realize fine area division.
And the operation end local map updating unit is used for carrying out different probability updating strategies on different areas by adopting an improved ray casting method according to the acquired operation end local map data, the area boundary lines and the area attributes to obtain updated operation end local map data.
And the map management end global map management unit is used for constructing a global map according to the updated local map data of the working end and the flatness of the working end in each region.
The map management end region dividing unit is used for dividing the updated region boundary line and region attribute according to the constraint conditions of the global map, the flatness of the working end and the region boundary.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (10)
1. A map area updating method for a loading area of a surface mine, comprising:
acquiring initial global map data of a loading area, and dividing area boundary lines and area attributes;
acquiring local map data of a working end;
calculating the flatness of the working end according to the acquired local map data of the working end;
according to the acquired local map data of the working end, the regional boundary lines and the regional attributes, adopting an improved ray casting method to execute different probability updating strategies for different regions, and obtaining updated local map data of the working end;
according to the updated working end local map data and the working end flatness, constructing a global map and performing earth volume change calculation;
dividing the updated region boundary line and region attribute according to the constraint conditions of the global map, the flatness of the working end and the region boundary.
2. The map area updating method for an open mine loading area of claim 1, wherein the working end comprises one or more of an unmanned mining truck, an excavating machine, an auxiliary working vehicle.
3. The map area updating method for an open mine loading area according to claim 1, wherein the working end partial map data includes point cloud data for completing time synchronization, acquisition unit operation state data, and attribute data of a current road.
4. The map area updating method for an open mine loading area according to claim 1, wherein the working end flatness calculating method comprises:
denoising and ground segmentation are sequentially carried out on point cloud data in the local map data of the working end, so that a reference horizontal plane is obtained;
transversely and longitudinally grid partitioning is carried out on point cloud data in a safety range of an operation end, and each area is marked and numbered according to the sequence of firstly transversely and then longitudinally;
extracting a central point in each area, and calculating a vector and a distance from the central point to a reference horizontal plane;
setting region dividing conditions according to the vector and distance change from the central point to the reference horizontal plane, and connecting grids in each region according to a four-neighborhood mode to form region blocks;
and carrying out flatness judgment and grading according to the regional division conditions.
5. The map area updating method for an open mine loading area according to claim 4, wherein the area dividing condition includes:
distances L1, L2, L3, L4 and L5 from the center point to the reference plane, wherein L1 represents that the flatness is in the negative, L2 represents that the flatness is in the negative small, L3 represents that the flatness is in the positive small, L4 represents that the flatness is in the middle, and L5 represents that the flatness is in the positive large;
each area block has minimum circumscribed polygonal area and proportion of the area to the whole area, and outputs three-dimensional coordinates of the boundary line;
and the minimum circumscribed polygonal area of the combined area L2 and L3 and the proportion of the minimum circumscribed polygonal area to the whole area are output, and the three-dimensional coordinates of the boundary line are output.
6. The map area updating method for an open mine loading area according to claim 5, wherein the method of flatness determination and classification according to the area division condition comprises:
l1 accounts for no more than 5%, and the flatness is negative, which represents a pit which cannot be used;
the proportion of L2 is 30-40%, the flatness is small, and the pit represents a common movable pit;
the proportion of L3 is 30-40%, the flatness is small, and the L3 represents a common movable bulge;
l4 accounts for 1% -5%, the flatness is the center, representing obstacles and ruts;
l5 accounts for 30% -40%, the flatness is positive, representing the retaining wall;
the proportion of the combined area of L2 and L3 is 30-40%, and the flatness is positive and represents the falling stone area.
7. The map area updating method for an open mine loading area according to claim 1, wherein the updated working end partial map data obtaining method comprises:
preprocessing the obtained local map data of the working end, including gridding point cloud data, denoising the point cloud data and synchronizing time to obtain preprocessed point cloud data;
dividing the preprocessed point cloud data into areas;
traversing the preprocessed point cloud data of different areas according to an improved ray casting method, and extracting idle and occupied grids in each area;
different probabilities are set for different areas, and the mapping and updating of the different areas are realized.
8. The map area updating method for an open mine loading area of claim 5, wherein the area boundaries include at least an excavated area boundary, a retaining wall boundary, a mountain boundary, a rockfall area boundary, and a movable area boundary.
9. The map area updating method for an open mine loading area of claim 8, wherein the constraints of the excavation area boundaries include at least: the maximum height of the area with the flatness L5 detected by the unmanned mine card is not more than 0.5m; the flatness detected by the unmanned mining card is the area L5, and the minimum length of the continuous area is 5m; the excavating machinery detects that the proportion of the combined area of L2 and L3 is more than 50 percent;
the constraint conditions of the retaining wall boundary at least comprise: the maximum change of the ground curvature detected by the unmanned mining card does not exceed a set range; the maximum height of the area with the flatness L5 detected by the unmanned mine card is not more than 1.5m; the flatness detected by the unmanned mining card is the area L5, and the minimum length of the continuous area is 10m;
the constraint conditions of the mountain boundary at least comprise: the maximum change of the ground curvature detected by the unmanned mining card does not exceed a set range; the maximum height of the area with the flatness L5 detected by the unmanned mine card exceeds 1.5m; area with flatness L5 detected by unmanned mining card, and minimum length of continuous area is 10m
The constraint conditions of the boundary of the falling stone zone at least comprise: the unmanned mining card detects that the proportion of the combined area of the L2 and the L3 is 30-40 percent; the boundary change range of the falling stone area does not exceed a set value; the minimum obstacle size does not exceed a set point; the minimum pit depth does not exceed a set value;
the constraint condition of the exercisable area boundary at least comprises: the maximum change of the ground curvature detected by the unmanned mining card does not exceed a set range; simultaneously meets the conditions of L1, L2, L3, L4 and L5; the maximum width of the road surface is 1.5-2 times of the vehicle width; the minimum obstacle size does not exceed a set point; the minimum pit depth does not exceed a set value.
10. A map area updating system for a loading area of a surface mine, comprising:
the initial data acquisition and processing unit is used for acquiring initial global map data of the loading area and dividing area boundary lines and area attributes;
the operation end data acquisition unit is used for acquiring operation end local map data;
the working end flatness calculation unit is used for calculating the working end flatness according to the acquired working end local map data;
the operation end local map updating unit is used for carrying out different probability updating strategies on different areas by adopting an improved ray casting method according to the acquired operation end local map data, the area boundary lines and the area attributes to obtain updated operation end local map data;
the map management end global map management unit is used for constructing a global map according to the updated local map data of the working end and the flatness of the working end;
the map management end region dividing unit is used for dividing the updated region boundary line and region attribute according to the constraint conditions of the global map, the flatness of the working end and the region boundary.
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