CN117708152A - Surface mine unmanned map boundary updating method and system - Google Patents

Surface mine unmanned map boundary updating method and system Download PDF

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Publication number
CN117708152A
CN117708152A CN202311783826.5A CN202311783826A CN117708152A CN 117708152 A CN117708152 A CN 117708152A CN 202311783826 A CN202311783826 A CN 202311783826A CN 117708152 A CN117708152 A CN 117708152A
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vehicle
map
boundary
updating
map boundary
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Inventor
罗羽
刘勇
黄佳德
段录平
刘邦繁
刘烨轩
何海兴
王佳
邓穆坤
汤春林
刘喜兵
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Zhuzhou CRRC Times Electric Co Ltd
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Zhuzhou CRRC Times Electric Co Ltd
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Priority to CN202311783826.5A priority Critical patent/CN117708152A/en
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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Abstract

The invention discloses a method and a system for updating the boundary of an unmanned map of an open mine, wherein the method comprises the following steps: s1, acquiring the position coordinates and the direction angles of a vehicle in real time; s2, calculating to obtain a contour rectangle of the vehicle based on the position coordinates and the direction angles of the vehicle; s3, intersecting the outline rectangle of the vehicle with the original map boundary to obtain a new map boundary arc section; and S4, updating the map boundary according to the new map boundary arc segment fusion. The method solves the problems of timeliness and accuracy of map boundary updating, has low cost, high accuracy and high efficiency, improves the fluency, safety and intelligent level of the unmanned transportation system, and effectively improves the working efficiency of the unmanned transportation system.

Description

Surface mine unmanned map boundary updating method and system
Technical Field
The invention mainly relates to the technical field of unmanned surface mine, in particular to a method and a system for updating an unmanned surface mine map boundary.
Background
In the unmanned application scene of the surface mine, along with the continuous promotion of mining work, the surface mine topography is constantly changing, the situation that the actual topography deviation of an unmanned map and a mining area is bigger and bigger can appear, if the unmanned map is not updated in time, or the accuracy of the updated map is insufficient, the scheduling planning decision of the unmanned transportation system can be negatively influenced, and further the vehicle can not accurately reach a designated position to operate, so that the safety and the working efficiency of the whole unmanned transportation system are influenced. If the map is re-acquired and constructed by using the map acquisition device, more manpower, material resources and time are necessarily required. Therefore, the real-time incremental updating of the surface mine unmanned map plays a vital role in the safe, smooth and efficient operation of the surface mine unmanned transport system.
The existing method (CN 202010701659.5) for updating the retaining wall map of the dump for automatic driving of the surface mine mainly comprises the steps of after finishing the retaining wall of the dump by a forklift, issuing a command to an ore clamp to collect the retaining wall point cloud data, preprocessing the point cloud data, dividing and calculating, fitting and optimizing, and finally fusing and updating the retaining wall. The method has the defects that when the soil discharge level is used up, a pilot mine card needs to be scheduled to collect the data of the retaining wall point cloud, the normal operation time of the mine card is occupied, the retaining wall boundary of the soil discharge field cannot be updated in time, and the unmanned transportation operation efficiency and yield are affected.
An automatic updating system and method for open-pit mine map (CN202010337437. X) mainly uses real-time acquisition of running positioning information of mining equipment to generate an initial reference boundary, and then uses the initial reference boundary to make fixed interval sampling, outward translation and smoothing treatment and calculation to obtain the running boundary of mining equipment. And finally, combining the initial retaining wall boundary line and the running boundary of mining equipment, and selecting the boundary line which is close to the outer edge of the dumping site after crossing the initial retaining wall boundary line and the running boundary of mining equipment to generate a new retaining wall boundary. The method has the defects that the driving position of mining equipment cannot be ensured to be accurate, the boundary generated by outward translation can generate larger error, the precision of the boundary of the retaining wall is insufficient, and the requirement of high precision of the boundary of the dumping site cannot be met.
In summary, the method of collecting the data of the retaining wall point cloud through the mine card or the map collecting vehicle and then dividing the extracted boundary for updating has the problems of efficiency and influence on the accuracy of the extracted boundary due to interference of obstacles.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems existing in the prior art, the invention provides the surface mine unmanned map boundary updating method and system which are low in cost, good in accuracy and high in efficiency.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a surface mine unmanned map boundary updating method comprises the following steps:
s1, acquiring the position coordinates and the direction angles of a vehicle in real time;
s2, calculating to obtain a contour rectangle of the vehicle based on the position coordinates and the direction angles of the vehicle;
s3, intersecting the outline rectangle of the vehicle with the original map boundary to obtain a new map boundary arc section;
and S4, updating the map boundary according to the new map boundary arc segment fusion.
Preferably, the specific process of step S1 is:
acquiring the central position coordinate and the direction angle of the vehicle in real time at a preset frequency, and subtracting and converting the global coordinate and the origin coordinate of the map to obtain the local coordinate position of the vehicle in the map; the center position of the vehicle is denoted as G;
at a certain momentPosition of vehicle->The description is as follows:
wherein the method comprises the steps of，/>Is the termination time; />Representing the position coordinates of the vehicle; />Then the direction angle of the vehicle in the coordinate system is represented.
Preferably, the specific process of step S2 is:
determining four vertexes of a vehicle body contour, and marking each vertex as a certain direction from a nearby vertex of the vehicle、/>、/>And->Calculating from the relative fixed position relation between the central position coordinate and each vertex of the vehicle to obtain any timeAnd engraving each vertex coordinate of the vehicle.
Preferably, each vertex coordinate of the vehicle at any time is calculated by the following formula:
wherein the method comprises the steps of,/>And +.>The state variables are all time->Is a function of (2); />Is a preset coefficient; />And->The distances from the coordinate point of the central position of the vehicle to the front end and the tail of the vehicle body are respectively; />And->The distances from the coordinate point of the center position of the vehicle to the left side and the right side of the vehicle body are respectively.
Preferably, in step S3, the specific process of intersecting the contour rectangle of the vehicle with the original map boundary is: the calculated vehicle contour rectangle { is the same as the frequency of collecting the vehicle position coordinatesIntersecting calculation is carried out on the two map boundary polygons to obtain two map boundary polygonsIntersection point of the intersection of the polygonal contours, which is denoted +.>And->The method comprises the steps of carrying out a first treatment on the surface of the When the number of the intersection points is less than 2, judging that the two polygons are not intersected, and updating the map boundary is not needed; when the number of the intersection points is equal to 2, the vehicle outline rectangle is stated to extend out of the map boundary, and the map boundary is updated.
Preferably, when judging the number of the intersection points, judging whether the sequence of the intersection points is valid or not;
assuming that the points on the map boundary are ordered clockwise, whenAt->When the vehicle head is pointed to the outer side of the map boundary, the map boundary expansion updating is needed; when->At->When the vehicle is on the right side of the map, the vehicle head is directed to the inner side of the map, and the map boundary does not need to be updated.
Preferably, in step 3), the specific process of obtaining the new map boundary arc segment is: and removing the vehicle rectangular vertexes in the map boundary, and forming a new boundary arc section by the rest vehicle rectangular vertexes and the intersection points.
Preferably, the specific process of step S4 is:
from new boundary arc segmentsEnd point of->And->Remove +.>And->Boundary points between, including and->And->The coincident points are then replaced with new boundary arc segments +.>And (3) replacing and splicing to obtain a new map boundary point sequence, and finally processing the new map boundary point sequence to obtain a final new map boundary.
The invention also discloses a surface mine unmanned map boundary updating device, which comprises a vehicle-mounted unit, a communication unit and a map management unit, wherein the vehicle-mounted unit comprises a vehicle-mounted positioning unit; the vehicle-mounted unit is in communication connection with the map management unit through a communication unit; the vehicle-mounted positioning unit is used for acquiring the position coordinates and the direction angles of the vehicle and sending the position coordinates and the direction angles to the map management unit, and the map management unit is used for executing the surface mine unmanned map boundary updating method according to the position coordinates and the direction angles of the vehicle to update the map boundary.
The invention further discloses a surface mine unmanned map boundary updating system comprising a memory and a processor connected to each other, the memory having stored thereon a computer program which, when run by the processor, performs the steps of the method as described above.
Compared with the prior art, the invention has the advantages that:
the invention collects the high-precision inertial navigation coordinates of the mining truck vehicle or the bulldozer in real time, calculates the vehicle coordinates to obtain a contour rectangle of the vehicle, detects the contour rectangle by using the contour rectangle in each collection period, judges whether the contour rectangle of the vehicle is out of a map boundary, and then fuses and updates the contour rectangle of the vehicle and the map boundary. And the map boundary is detected and updated in real time at a preset frequency, so that the real-time performance is good. Only a high-precision positioning device is required to be installed, no additional radar device is required, and the cost is low. The map boundary updating is automatically completed in the vehicle operation process, the efficiency is high, the map boundary updating accuracy is not affected by interference of obstacles (such as operation vehicles) on the edge of the retaining wall, and the accuracy is good.
The error of the high-precision positioning coordinate adopted by the invention can be controlled within 10cm, and an accurate map boundary can be obtained after the processing of parameter correction, interpolation and smoothing algorithm. After the initial map construction of the surface mine is completed, the change of the mine map boundary is driven to change by the operation activity of the vehicle, so that the update of the map boundary is most suitable based on the real-time high-precision positioning coordinates of the vehicle, and meanwhile, the update accuracy is not influenced by the interference of obstacles on the retaining wall. Therefore, the scheme of the invention has the advantages of simplicity, high efficiency and high engineering application value without losing precision.
The method solves the problems of timeliness and accuracy of map boundary updating, improves the smoothness, safety and intelligence level of the unmanned transport system, and effectively improves the working efficiency of the unmanned transport system.
Drawings
Fig. 1 is a block diagram of an update apparatus according to an embodiment of the present invention.
Fig. 2 is a flowchart of an update method according to an embodiment of the present invention.
Fig. 3 is a schematic view of four vertices of a vehicle in a coordinate system according to the present invention.
FIG. 4 is a schematic diagram of the intersection of a contour rectangle and an original map boundary in the present invention.
Fig. 5 is a schematic diagram of the present invention in which the map boundary point sequence is linearly interpolated and smoothed to obtain the final new map boundary.
Detailed Description
The invention is further described below with reference to the drawings and specific examples.
As shown in fig. 2, the method for updating the boundary of the unmanned map of the surface mine according to the embodiment of the invention comprises the following steps:
s1, acquiring the positioning coordinates and the direction angle of the vehicle in real time.
Specifically, the center position coordinate and the direction angle of the vehicle are obtained in real time at a preset frequency, and the local coordinate position of the vehicle in the map is obtained after subtraction and conversion of the global coordinate and the origin coordinate of the map. The center position of the vehicle is denoted as G. At a certain momentThe position state of the vehicle can be described as:
wherein the method comprises the steps ofTermination time->May be constant or variable; />Representing the position coordinates of the vehicle;the direction angle of the vehicle in the coordinate system, that is, the rotation angle from the positive direction of the X-axis of the coordinate system to the positive direction of the longitudinal axis of the vehicle body, is represented to turn counterclockwise as the positive direction.
S2, calculating the outline rectangle of the vehicle based on the central position coordinates and the direction angle of the vehicle.
Specifically, calculating the contour rectangle of the vehicle first requires determining four vertices of the vehicle body contour (shown in fig. 3), and counting each vertex in a clockwise direction (in other embodiments, counterclockwise direction as well) from the vertex near the left front wheel of the vehicle as、/>、/>And +.>The coordinates of each vertex of the vehicle at any moment can be obtained by the following calculation according to the relative fixed position relation between the coordinates of the center position of the vehicle and each vertex:
wherein the method comprises the steps of,/>And +.>The state variables are all time->Is omitted here for simplicity of description>；/>Is a preset coefficient, and the value range is generally +.>，/>The coefficient value is related to the vehicle type, and according to application experience, the vehicle value of a general mining truck is 0.7, the forklift value is 0.9, and other vehicle types can also set the adaptive coefficient according to the vehicle parameters and experience; />Andthe distances from the coordinate point of the central position of the vehicle to the front end and the tail of the vehicle body are respectively; />And->The distances from the coordinate point of the center position of the vehicle to the left side and the right side of the vehicle body are respectively. At any time +.>According to->,/>,/>Can be combined with the above to directly obtain the vertex of the rectangular outline of the vehicle +.>、/>、/>And +.>Coordinate value expression of (c).
And S3, intersecting the outline rectangle of the vehicle with the boundary of the original map to obtain a new boundary arc section.
Specifically, the vehicle profile rectangle { calculated in the second step is calculated as the same as the frequency of collecting the vehicle position coordinatesIntersecting calculation is carried out on the two polygonal outlines and the map boundary polygons, so as to obtain intersection points of the two polygonal outlines, and the intersection points are marked as +.>And->(shown in FIG. 4). When the number of the intersection points is smaller than 2, judging that the two polygons are not intersected, wherein the map boundary does not need to be updated; when the number of the intersection points is equal to 2, the vehicle outline rectangle is stated to extend out of the map boundary, and the map boundary is required to be updated.
In addition to determining the number of intersections, it is also necessary to determine whether the order of the intersections is valid, assuming that the points on the map boundary are ordered clockwise, whenAt->When the vehicle head is pointed to the outer side of the map boundary, the map boundary expansion updating is needed; when->At->To the right of (a), the vehicle head is shown facing the inside of the map, which does not require updating the map boundaries. After two effective intersection points are obtained through calculation, a new boundary arc section is extracted, wherein the extraction method comprises the steps of firstly removing vehicle rectangular vertexes in the map boundary, and forming a new boundary arc section by the remaining vehicle rectangular vertexes and the intersection points>Is a sequence of points of (a)，/>。
According to the effectiveness judgment logic, a new boundary arc section is formedThe effective combinations of the dot sequences of (a) are:、/>、/>、/>、/>、/>、。
and S4, updating the map boundary according to the new boundary arc segment fusion.
In particular, according to the new boundary arc segmentEnd point of->And->Remove +.>And->Boundary points between (including and->And->Coincident points) and then using a new boundary arc segment +.>Replacing and splicing to obtain a new map boundary point sequence (shown in figure 5); and finally, carrying out linear interpolation and smoothing on the new map boundary point sequence to obtain a final new map boundary.
In the above-described solutions, vehicles are mainly mining trucks, forklifts, command vehicles and other auxiliary vehicles for surface mines, in particular crawler or wheel dozers. The same effect can be achieved with the above method if other types of vehicles are used.
Since the change of the map boundary is basically driven to change by the operation activity of the vehicle after the initial unmanned map construction of the surface mine is completed, especially the operation activity of newly repairing the road or repairing the retaining wall by the bulldozer has the greatest influence on the change of the map boundary, the real-time update of the map boundary based on the real-time high-precision positioning coordinates of the vehicle (especially the bulldozer) is a proper scheme, and meanwhile, the scheme cannot be interfered by obstacles on the edge of the retaining wall to influence the accuracy of the map boundary update.
According to the method, the position coordinates and the direction angles of the vehicle are obtained in real time, the vehicle outline rectangle is calculated, and a new boundary point sequence is further obtained according to the intersecting operation of the vehicle outline rectangle and the map boundary, so that the map boundary is updated timely; the automatic incremental updating of the map boundary can be realized without acquiring radar point cloud data, sending an updating instruction and other human intervention modes, and unnecessary investment of labor and material costs is reduced.
According to the invention, the map boundary is updated in real time, so that the change of the terrain of the unmanned area is mastered in real time, and the scheduling and planning decision of the whole surface mine unmanned transportation system is facilitated. The real-time updating of the map boundary plays an important role in the smooth operation of the unmanned transportation system of the surface mine, the method can greatly improve the smoothness and the intelligent level of the unmanned operation of the surface mine, and effectively improve the operation efficiency of unmanned transportation.
As shown in fig. 1, the embodiment of the invention also provides a surface mine unmanned map boundary updating system, which comprises a vehicle-mounted unit, a communication unit and a map management unit;
the vehicle-mounted unit comprises a calculation display device, a GPS inertial navigation device with an RTK function, a vehicle-mounted communication device and the like. The vehicle-mounted computing display device provides man-machine interaction for a driver, and the GPS inertial navigation device with the RTK function periodically collects position and direction angle information of the vehicle and performs information interaction with the map management unit through the vehicle-mounted communication device.
The communication unit is mainly a communication infrastructure of 4G/5G and the like which is deployed on the ground, and a communication network of the vehicle-mounted unit and the map management unit is constructed.
The map management unit consists of a server, a database and a program module running on the server, and is responsible for management and maintenance of unmanned map data of the mine, including functions of map creation, editing, release, dynamic fusion, real-time update, deletion, duplication, export and the like.
When the operation is started, a driver starts a start mode in the vehicle-mounted unit. In a startup operation mode, the GPS inertial navigation device with the RTK function collects position coordinate and direction angle information of the vehicle every 1-2 seconds according to preset collection frequency, corrects deviation correction and projection conversion processing is carried out according to the position of the positioning device and pitch angle information of the vehicle, the central position coordinate of the vehicle on the ground plane is obtained, and then the vehicle type information is attached to the central position coordinate and is sent to the map management unit. When the driver exits the start-up mode, the transmission of the position coordinates and direction angle information of the host vehicle to the map management unit will be stopped.
The map management unit receives the position coordinates and the direction angle information of the vehicle reported by the vehicle-mounted unit, searches the parameters (such as the length, the width, the wheelbase and other key parameters of the vehicle) of the type of vehicle which are pre-configured from the database according to the type of the vehicle, calculates the outline rectangle of the vehicle based on the central position coordinates and the direction angle of the vehicle, performs intersection operation on the outline rectangle of the vehicle and the map boundary, and finally fuses and updates the map boundary.
The invention collects the high-precision inertial navigation coordinates of the mining truck vehicle or the bulldozer in real time, calculates the vehicle coordinates to obtain a contour rectangle of the vehicle, detects the contour rectangle by using the contour rectangle in each collection period, judges whether the contour rectangle of the vehicle is out of a map boundary, and then fuses and updates the contour rectangle of the vehicle and the map boundary. And the map boundary is detected and updated in real time at a preset frequency, so that the real-time performance is good. Only a high-precision positioning device is required to be installed, no additional radar device is required, and the cost is low. The map boundary updating is automatically completed in the vehicle operation process, the efficiency is high, the map boundary updating accuracy is not affected by interference of obstacles (such as operation vehicles) on the edge of the retaining wall, and the accuracy is good.
The error of the high-precision positioning coordinate adopted by the invention can be controlled within 10cm, and an accurate map boundary can be obtained after the processing of parameter correction, interpolation and smoothing algorithm. After the initial map construction of the surface mine is completed, the change of the mine map boundary is driven to change by the operation activity of the vehicle, so that the update of the map boundary is most suitable based on the real-time high-precision positioning coordinates of the vehicle, and meanwhile, the update accuracy is not influenced by the interference of obstacles on the retaining wall. Therefore, the scheme of the invention has the advantages of simplicity, high efficiency and high engineering application value without losing precision.
The method solves the problems of timeliness and accuracy of map boundary updating, improves the smoothness, safety and intelligence level of the unmanned transport system, and effectively improves the working efficiency of the unmanned transport system.
Embodiments of the present invention provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method as described above. The embodiment of the invention further discloses an open mine unmanned map boundary updating system which comprises a memory and a processor which are connected with each other, wherein the memory stores a computer program which executes the steps of the method when being executed by the processor.
The present invention may also be implemented in whole or in part by hardware associated with computer program instructions, which may be stored in a computer-readable storage medium, the computer program, when executed by a processor, implementing the steps of the method embodiments described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer-readable storage medium includes: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. The memory is used for storing computer programs and/or modules, and the processor implements various functions by running or executing the computer programs and/or modules stored in the memory and invoking data stored in the memory. The memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid state storage device, etc.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.

Claims (10)

1. The method for updating the boundary of the unmanned map of the surface mine is characterized by comprising the following steps:
s1, acquiring the position coordinates and the direction angles of a vehicle in real time;
s2, calculating to obtain a contour rectangle of the vehicle based on the position coordinates and the direction angles of the vehicle;
s3, intersecting the outline rectangle of the vehicle with the original map boundary to obtain a new map boundary arc section;
and S4, updating the map boundary according to the new map boundary arc segment fusion.
2. The method for updating the boundary of the unmanned map of the surface mine as claimed in claim 1, wherein the specific process of step S1 is as follows:
acquiring the central position coordinate and the direction angle of the vehicle in real time at a preset frequency, and subtracting and converting the global coordinate and the origin coordinate of the map to obtain the local coordinate position of the vehicle in the map; the center position of the vehicle is denoted as G;
at a certain momentPosition of vehicle->The description is as follows:
wherein the method comprises the steps of，/>Is the termination time; />Representing the position coordinates of the vehicle; />Then the direction angle of the vehicle in the coordinate system is represented.
3. The method for updating the boundary of the unmanned map of the surface mine as claimed in claim 2, wherein the specific process of step S2 is as follows:
determining four vertexes of a vehicle body contour, and marking each vertex as a certain direction from a nearby vertex of the vehicle、/>、And->And calculating the coordinates of each vertex of the vehicle at any moment according to the fixed position relation between the coordinates of the central position of the vehicle and each vertex.
4. A method for updating a boundary of an unmanned map of a surface mine as claimed in claim 3, wherein the coordinates of each vertex of the vehicle at any time are calculated by the following formula:
wherein the method comprises the steps of, />And +.>The state variables are all time->Is a function of (2); />Is a preset coefficient; />And->The distances from the coordinate point of the central position of the vehicle to the front end and the tail of the vehicle body are respectively; />And->The distances from the coordinate point of the center position of the vehicle to the left side and the right side of the vehicle body are respectively.
5. The method for updating an unmanned map boundary of an opencast mine as set forth in claim 4, wherein in step S3, the specific process of intersecting the contour rectangle of the vehicle with the original map boundary is as follows: the calculated vehicle contour rectangle { is the same as the frequency of collecting the vehicle position coordinatesIntersecting calculation is carried out on the two polygonal outlines and the map boundary polygons, so as to obtain intersection points of the two polygonal outlines, and the intersection points are marked as +.>And->The method comprises the steps of carrying out a first treatment on the surface of the When the number of the intersection points is less than 2, judging that the two polygons are not intersected, and updating the map boundary is not needed; when the number of the intersection points is equal to 2, the vehicle outline rectangle is stated to extend out of the map boundary, and the map boundary is updated.
6. The method for updating an unmanned map boundary of an opencast mine according to claim 5, wherein when determining the number of intersections, it is also determined whether the order of the intersections is valid;
assuming that the points on the map boundary are ordered clockwise, whenAt->When the vehicle head is pointed to the outer side of the map boundary, the map boundary expansion updating is needed; when->At->When the vehicle is on the right side of the map, the vehicle head is directed to the inner side of the map, and the map boundary does not need to be updated.
7. The method for updating an unmanned map boundary of an opencast mine according to claim 6, wherein in step 3), the specific process of obtaining a new map boundary arc segment is: and removing the vehicle rectangular vertexes in the map boundary, and forming a new boundary arc section by the rest vehicle rectangular vertexes and the intersection points.
8. The surface mine unmanned map boundary updating method of claim 7, wherein the specific process of step S4 is:
from new boundary arc segmentsEnd point of->And->Remove +.>And->Boundary points between, including and->And->The coincident points are then replaced with new boundary arc segments +.>And (3) replacing and splicing to obtain a new map boundary point sequence, and finally processing the new map boundary point sequence to obtain a final new map boundary.
9. The unmanned map boundary updating device for the surface mine is characterized by comprising a vehicle-mounted unit, a communication unit and a map management unit, wherein the vehicle-mounted unit comprises a vehicle-mounted positioning unit; the vehicle-mounted unit is in communication connection with the map management unit through a communication unit; the vehicle-mounted positioning unit is used for acquiring the position coordinates and the direction angles of the vehicle and sending the position coordinates and the direction angles to the map management unit, and the map management unit is used for executing the surface mine unmanned map boundary updating method according to any one of claims 1-8 to update the map boundary according to the position coordinates and the direction angles of the vehicle.
10. A surface mine unmanned map boundary updating system comprising a memory and a processor connected to each other, the memory having stored thereon a computer program which, when executed by the processor, performs the steps of the method according to any of claims 1-8.
CN202311783826.5A 2023-12-22 2023-12-22 Surface mine unmanned map boundary updating method and system Pending CN117708152A (en)

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Application Number Priority Date Filing Date Title
CN202311783826.5A CN117708152A (en) 2023-12-22 2023-12-22 Surface mine unmanned map boundary updating method and system

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CN117708152A true CN117708152A (en) 2024-03-15

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