CN114359494A - Mining area three-dimensional map collecting and updating method and system - Google Patents
Mining area three-dimensional map collecting and updating method and system Download PDFInfo
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Abstract
The invention provides a mining area three-dimensional map acquisition and updating method and a mining area three-dimensional map acquisition and updating system, which comprise the steps of receiving mining area topographic data acquired by an acquisition terminal; modeling is carried out according to the mining area topographic data to obtain a mining area three-dimensional point cloud map; slicing the three-dimensional point cloud map into map area blocks with preset sizes according to the x-axis information and the y-axis information of the three-dimensional point cloud map; sending the three-dimensional point cloud map of the mining area to each working terminal in the mining area; the server receives the regional mining area topographic data collected by each working terminal, and the regional mining area topographic data are obtained after modeling is carried out on the regional mining area topographic data; and slicing the regional mine terrain data into regional map region blocks with the same size as the map region blocks according to the x-axis information and the y-axis information of the regional mine terrain data, and covering the regional map region blocks into a three-dimensional point cloud map of the mine. The method provided by the invention can be used for acquiring the terrain data in the mining area in real time according to the terrain change in the mining area, so that the updating of the three-dimensional map of the mining area is realized, and the robustness is realized.
Description
Technical Field
The invention belongs to the field of intelligent surveying and mapping, and particularly relates to a mining area three-dimensional map acquisition and updating method and system.
Background
In recent years, the rapid development of artificial intelligence technology and communication technology injects new energy into an automatic driving system. And because the mining operation flow is relatively single, the operation repeatability is high, and the environment is hard and difficult to recruit workers, the automatic and intelligent construction of the mining area is widely concerned, and the intelligent mine and the unmanned mine are the future development trend. The mining area three-dimensional map is an important foundation and necessary condition for realizing the full unmanned automatic driving of the mining area. However, due to the characteristics of high operation intensity and rapid terrain change of the mining area, how to accurately acquire a three-dimensional map of the mining area is a great problem in realizing unmanned driving of the mining area. Most of mining area three-dimensional map data acquisition and manufacturing methods for urban roads with relatively small scene change cannot be used universally in mining areas, and actual unmanned requirements of the mining areas are difficult to meet. Urban environment road conditions are relatively good, high-quality sensor raw data can be collected by means of a professional data collection vehicle, but in a mining area, the road surface of a driving road jolts, and many road sections under severe weather conditions cannot pass through the data collection vehicle, so that map data required by unmanned driving cannot be collected in an all-around mode only by means of the data collection vehicle, and noise interference can be caused to sensors such as a laser radar and a camera inevitably due to serious dust in the mining area. In addition, a large number of excavators and bulldozers are arranged in the loading area, the unloading area and other areas of the mining area to carry out mining and filling tasks at the same time, and the traditional data acquisition method cannot meet the real-time task requirement.
The invention with the patent number of 202110764512.5 discloses a mining area high-precision map manufacturing method of a mine unmanned scene. According to the method, after point cloud data of a mining area scene are collected through a laser radar on an unmanned mine card, the data are uploaded to a cloud server through network communication for further data processing, such as mining area ground maps, peripheral mountain extraction, ground broken stone extraction and the like, and after the data processing is finished, the data are updated to each application client to finish the updating of the mining area three-dimensional maps.
In view of this, a mining area three-dimensional map collecting and updating method and system are urgently needed to be provided.
Disclosure of Invention
Therefore, the invention provides a mining area three-dimensional map collecting and updating method and system.
The invention discloses a mining area three-dimensional map acquisition and updating method and a mining area three-dimensional map acquisition and updating system, which are used for a server and comprise the following steps:
receiving mining area topographic data collected by a collecting terminal;
modeling is carried out according to the mining area topographic data to obtain a mining area three-dimensional point cloud map; slicing the three-dimensional point cloud map into map area blocks with preset sizes according to the x-axis information and the y-axis information of the three-dimensional point cloud map;
sending the three-dimensional point cloud map of the mining area to each working terminal in the mining area;
the server receives the regional mining area topographic data collected by each working terminal, and a regional three-dimensional point cloud map is obtained after modeling is carried out on the regional mining area topographic data;
and slicing the partitioned three-dimensional point cloud map into partitioned map area blocks with the same block size as the map area blocks according to the x-axis information and the y-axis information of the partitioned three-dimensional point cloud map, and covering the partitioned map area blocks into the mining area three-dimensional point cloud map.
Further, the mining area topographic data and the partitioned mining area topographic data comprise laser radar point cloud data, visual camera image sensor data and GPS/IMU data.
Further, after receiving mining area terrain data acquired by an acquisition terminal, judging whether road data exists in the terrain data;
if yes, marking the road data, and recording a poi information point corresponding to the road data; the road data includes traffic lights, markers, and tracks located within the mine.
Further, the concrete process of modeling according to the mining area topographic data is as follows:
carrying out sand dust noise reduction on laser radar point cloud data in the topographic data of the mining area, and filtering dynamic obstacles;
RGB coloring is carried out on the three-dimensional points in each frame of point cloud;
and completing pose calculation of each frame of point cloud and modeling by GPS/IMU data subjected to time synchronization processing and calibration external parameters of the GPS/IMU data and the laser radar.
Further, the method is used for the working terminal and comprises the following steps:
the working terminal receives a three-dimensional point cloud map of a mining area;
carrying out a working instruction according to the three-dimensional point cloud map of the mining area to a working area of the mining area;
and when the working area is reached, acquiring the topographic data of the subarea mining area when the topography of the working area is changed.
Further, zonal mine terrain data is collected as the terrain of the work area changes, including,
an unmanned mine card in the working terminal travels to an excavation area in a working area of the mine area and is close to an excavator in the working terminal;
after loading is finished, the unmanned mine card and the excavator simultaneously acquire regional terrain data of an excavation area and send the regional terrain data to the server;
also comprises the following steps of (1) preparing,
the unmanned mine card travels to an unloading area in the working area;
after unloading is finished, the unmanned mine card collects regional topographic data of an unloading area;
also comprises the following steps of (1) preparing,
when the unloading of a preset number of unmanned mine cards is completed in the unloading area;
a bulldozer in the working terminal performs flattening and finishing on the earthwork material unloaded by the unmanned mine card;
and after finishing the arrangement by the bulldozer, acquiring regional topographic data of the unloading area by the bulldozer.
The invention also provides a mining area three-dimensional map acquisition and updating system, which comprises:
the acquisition terminal is used for acquiring mining area topographic data in a mining area;
the working terminal executes the working instruction and collects regional topographic data according to the topographic change of the working region in the working region of the mining area;
the server is provided with a plurality of servers,
receiving mining area topographic data acquired by an acquisition terminal to generate a three-dimensional point cloud map;
and receiving regional topographic data acquired by the working terminal and updating the three-dimensional point cloud map.
Further, the acquisition terminal is a data acquisition vehicle; and the data acquisition vehicle is provided with sensors such as a laser radar, a binocular vision industrial camera and a combined navigation GPS/IMU.
Further, the working terminals are unmanned mine cards, excavators and bulldozers; and the unmanned mine card, the excavator and the bulldozer are respectively provided with a laser radar, a binocular vision industrial camera, a combined navigation GPS/IMU and other sensors.
Further, the server is a cloud server.
Compared with the prior art, the technical scheme of the invention has the following advantages:
(1) the invention has stronger practicability and flexibility. The data acquisition vehicle modified based on the passenger vehicle cannot acquire comprehensive and detailed topographic data of the mining area under various conditions, the smoothness of running of the data acquisition vehicle in the mining area is determined by vehicle structure models of an unmanned mine card, a bulldozer and an excavator, and the data can be acquired more stably and more conveniently by using the vehicle types as data acquisition terminals; compared with the scheme of only using an unmanned mine card as an acquisition terminal, the method has stronger robustness and real-time performance. Usually, when the unmanned ore card finishes loading and is driven out of a loading area, the excavator can also regulate the ore materials in the surrounding environment, and the topographic changes cannot be recorded if only the unmanned ore card collection equipment is used. When the unmanned mine card drives into the loading position again to wait for the excavator to load, the unmanned mine card is probably stopped at a position which is inconvenient for the excavator to load because of errors existing in the description and the fact of the three-dimensional terrain of the loading area, and the overall working efficiency is reduced; in the unloading area, in fact, the bulldozer can only doze after the unmanned mine trucks are unloaded and then the bulldozer exits the unloading area, but the task flows are not realized when the unmanned mine trucks are unloaded and the bulldozer dozes. Therefore, only the map data of the unloading area is acquired by using the unmanned mine card, and the terrain of the unloading area cannot be described when the terrain is updated by the bulldozer, and at the moment, the map acquisition equipment is required to be installed on the bulldozer so as to update the three-dimensional mine area map in real time. The invention provides a set of complete mining area three-dimensional map acquisition and manufacturing scheme, terrain description data is acquired by using a data acquisition vehicle, an unmanned mine card, an excavator and a bulldozer, so that the advantage of high driving speed of the data acquisition vehicle on a main road can be exerted to quickly acquire an initial three-dimensional map of a mining area, and terrain change caused by the operation of the excavator and the bulldozer can be detected and updated in real time, so that map data are more robust, and the freshness of the three-dimensional map is enhanced.
(2) The invention gives play to the advantages of the acquisition terminal and the working terminal to carry out efficient map data acquisition. When a full-mine unknown map is constructed for the first time, accurate topographic description data are collected by relatively precise collecting equipment on a data collecting vehicle, corresponding POI information points are collected, and an initial mining area three-dimensional map is rapidly completed; and then the unmanned mine card and the excavator, and the unmanned mine card and the bulldozer are combined to carry out real-time map acquisition on the loading area and the unloading area, so that the terrain change of each place of the mining area can be collected without omission. The data acquisition vehicle ensures the speed of responding to the unknown map, and other types of data acquisition terminals ensure the robustness and the real-time performance of map updating in the operation process.
(3) Compared with other schemes, the method has the advantages that the acquisition terminal is not always started in the process of updating the map change of the loading area and the unloading area in real time, and the data acquisition is carried out for 10 seconds only after a series of continuous terrain change actions of the excavator and the loader are completed. Therefore, the comprehensiveness of the data coverage change area can be guaranteed, excessive network bandwidth occupied by redundant useless sensor data can be avoided during network transmission, the use of network resources is greatly optimized, the consumption of computing resources for processing data by a cloud server can be reduced, and the map building and updating efficiency is improved.
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FIG. 1 is a schematic flow chart of a method provided by an embodiment of the present invention;
fig. 2 is a schematic diagram of module connection of the system according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and 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 first embodiment is as follows:
the invention discloses a mining area three-dimensional map acquisition and updating method and a mining area three-dimensional map acquisition and updating system, which are used for a server and comprise the following steps:
receiving mining area topographic data collected by a collecting terminal;
modeling is carried out according to the mining area topographic data to obtain a mining area three-dimensional point cloud map; slicing the three-dimensional point cloud map into map area blocks with preset sizes according to the x-axis information and the y-axis information of the three-dimensional point cloud map;
sending the three-dimensional point cloud map of the mining area to each working terminal in the mining area;
the server receives the regional mining area topographic data collected by each working terminal, and a regional three-dimensional point cloud map is obtained after modeling is carried out on the regional mining area topographic data;
and slicing the partitioned three-dimensional point cloud map into partitioned map area blocks with the same block size as the map area blocks according to the x-axis information and the y-axis information of the partitioned three-dimensional point cloud map, and covering the partitioned map area blocks into the mining area three-dimensional point cloud map.
Further, the mining area topographic data and the partitioned mining area topographic data comprise laser radar point cloud data, visual camera image sensor data and GPS/IMU data.
Further, after receiving the mining area topographic data collected by the collecting terminal, judging whether road data exists in the topographic data.
If yes, marking the road data, and recording a poi information point corresponding to the road data; the road data includes traffic lights, markers, and tracks located within the mine.
Further, the concrete process of modeling according to the mining area topographic data is as follows:
and (3) carrying out sand dust noise reduction on the laser radar point cloud data in the topographic data of the mining area, and filtering out dynamic obstacles.
And RGB coloring is carried out on the three-dimensional points in each frame of point cloud.
And completing pose calculation of each frame of point cloud and modeling by GPS/IMU data subjected to time synchronization processing and calibration external parameters of the GPS/IMU data and the laser radar.
Further, the method is used for the working terminal and comprises the following steps:
and the working terminal receives the three-dimensional point cloud map of the mining area.
And carrying out a working instruction according to the three-dimensional point cloud map of the mining area to the working area of the mining area.
And when the working area is reached, acquiring the topographic data of the subarea mining area when the topography of the working area is changed.
Further, collecting zoning mine terrain data when the terrain of the working area changes, comprising:
an unmanned mine card in the work terminal travels to an excavation area in the work area of the mine area and is proximate to an excavator in the work terminal.
After loading is finished, the unmanned mine card and the excavator simultaneously acquire regional terrain data of an excavation area and send the regional terrain data to the server.
Also included is an unmanned mine card traveling to an unloading zone in the work area.
And after unloading is finished, the unmanned mine card collects regional topographic data of the unloading area.
And when the unloading of the preset number of the unmanned mine cards is finished in the unloading area.
And a bulldozer in the working terminal flattens and sorts the earthwork materials unloaded by the unmanned mine card.
And after finishing the arrangement by the bulldozer, acquiring regional topographic data of the unloading area by the bulldozer.
The embodiment also provides a mining area three-dimensional map collecting and updating system, which comprises a collecting terminal, a working terminal and a server, as shown in fig. 2.
The acquisition terminal is used for acquiring mining area topographic data in a mining area.
The work terminal is used for executing the work order and collecting regional topographic data according to the topographic change of the work area in the work area of the mining area.
The server receives mining area topographic data acquired by the acquisition terminal and generates a three-dimensional point cloud map; and receiving regional topographic data acquired by the working terminal and updating the three-dimensional point cloud map. The server is a cloud server.
And the cloud server processes the sensor raw data uploaded by the acquisition terminal and the working terminal and updates the dynamic area of the map. All laser radar original data are processed by a sand dust filtering noise reduction and dynamic obstacle elimination module, namely point cloud noise of a scattered point level and a semantic level is respectively removed. And then coloring each three-dimensional point in the laser radar point cloud data in a projection mode according to the RGB information of the image and the calibrated external parameter. And finally, constructing a local map of new data for updating the slices of the three-dimensional map by point cloud splicing.
Further, the acquisition terminal is a data acquisition vehicle; and the data acquisition vehicle is provided with sensors such as a laser radar, a binocular vision industrial camera and a combined navigation GPS/IMU.
Further, the working terminals are unmanned mine cards, excavators and bulldozers; and the unmanned mine card, the excavator and the bulldozer are respectively provided with a laser radar, a binocular vision industrial camera, a combined navigation GPS/IMU and other sensors.
In the actual operation process of the system, the unmanned mine card is used for collecting the terrain change during each loading and unloading operation. In the loading area, data acquisition is started after the excavator is loaded, and the data acquisition is used as supplement of the data acquisition of the excavator, so that incomplete excavator data caused by shielding or view angle problems is prevented; in the unloading area, the terrain data are collected after the goods are unloaded each time, so that the terrain data can be updated when the bulldozer does not work.
The data collection vehicle is mainly used for collecting map data of unknown scenes such as main transportation roads for the first time. Meanwhile, the acquisition terminal on the data acquisition vehicle can acquire and record map POI information points. It should be noted that, in the embodiment, the professional annotating staff can conveniently perform later map annotation by recording and collecting data of other sensors under the same timestamp as the POI information point. All data acquisition terminals can store the original sensor data into a terminal storage database when acquiring data, and the latest data in the terminal storage database is uploaded to a cloud storage database in a cloud server after a round of data acquisition is finished.
In the embodiment, the data acquisition vehicle modified from the passenger vehicle cannot acquire comprehensive and detailed topographic data of the mining area under various conditions, the vehicle structure model of the unmanned mine card, the bulldozer and the excavator determines the smoothness of the driving of the unmanned mine card, the bulldozer and the excavator in the mining area, and the vehicle types are used as data acquisition terminals, so that the data can be acquired more stably and more conveniently; compared with the scheme of only using an unmanned mine card as an acquisition terminal, the method has stronger robustness and real-time performance. Usually, when the unmanned ore card finishes loading and is driven out of a loading area, the excavator can also regulate the ore materials in the surrounding environment, and the topographic changes cannot be recorded if only the unmanned ore card collection equipment is used. When the unmanned mine card drives into the loading position again to wait for the excavator to load, the unmanned mine card is probably stopped at a position which is inconvenient for the excavator to load because of errors existing in the description and the fact of the three-dimensional terrain of the loading area, and the overall working efficiency is reduced; in the unloading area, in fact, the bulldozer can only doze after the unmanned mine trucks are unloaded and then the bulldozer exits the unloading area, but the task flows are not realized when the unmanned mine trucks are unloaded and the bulldozer dozes. Therefore, only the map data of the unloading area is acquired by using the unmanned mine card, and the terrain of the unloading area cannot be described when the terrain is updated by the bulldozer, and at the moment, the map acquisition equipment is required to be installed on the bulldozer so as to update the three-dimensional mine area map in real time. The invention provides a set of complete mining area three-dimensional map acquisition and manufacturing scheme, terrain description data is acquired by using a data acquisition vehicle, an unmanned mine card, an excavator and a bulldozer, so that the advantage of high driving speed of the data acquisition vehicle on a main road can be exerted to quickly acquire an initial three-dimensional map of a mining area, and terrain change caused by the operation of the excavator and the bulldozer can be detected and updated in real time, so that map data are more robust, and the freshness of the three-dimensional map is enhanced.
The embodiment gives play to the advantages of the acquisition terminal and the working terminal respectively to carry out efficient map data acquisition. When a full-mine unknown map is constructed for the first time, accurate topographic description data are collected by relatively precise collecting equipment on a data collecting vehicle, corresponding POI information points are collected, and an initial mining area three-dimensional map is rapidly completed; and then the unmanned mine card and the excavator, and the unmanned mine card and the bulldozer are combined to carry out real-time map acquisition on the loading area and the unloading area, so that the terrain change of each place of the mining area can be collected without omission. The data acquisition vehicle ensures the speed of responding to the unknown map, and other types of data acquisition terminals ensure the robustness and the real-time performance of map updating in the operation process.
Example two:
this embodiment is a specific acquisition update process implemented according to the first embodiment.
When the three-dimensional map of the unknown area of the mining area is acquired and manufactured for the first time, the data acquisition vehicle is used for acquiring data, and the acquisition of the environmental information of the main transportation road, the loading area and the unloading area is completed. If special road elements such as traffic lights and rails crossing roads exist in the scene, corresponding POI information points need to be collected simultaneously in the acquisition process. And after the acquisition is finished and the data integrity is confirmed, uploading the data to a cloud server.
The cloud server receives mining area data collected by the data acquisition vehicle, triggers the three-dimensional mapping module, namely, firstly carries out sand dust removal and noise reduction processing on the original laser radar point cloud data, and then filters out dynamic obstacles by utilizing a removert algorithm. And then, according to the calibration external parameter of the camera and the laser radar, giving RGB color information to the three-dimensional point in each frame of point cloud. And finally, completing the pose calculation of each frame of point cloud according to the GPS/IMU data subjected to time synchronization processing and the calibration external parameter of the laser radar and realizing the mapping.
And slicing the spliced three-dimensional point cloud map according to the information of the x axis and the y axis, wherein each slice is a map area block of 20m x 20m, and storing the map area blocks into a cloud server database after attaching POI information. By utilizing the characteristic of master-slave copy of the database, the cloud server database is used as a master database, and databases in unmanned mine cards, bulldozers, excavators and other terminals needing to use the three-dimensional point cloud map are used as slave databases, so that the consistency of the three-dimensional point cloud map data in each terminal and the three-dimensional point cloud map data in the cloud server is ensured all the time.
After the three-dimensional point cloud map is obtained, the unmanned mine card normally works, and firstly, the unmanned mine card travels to a loading area and stops nearby an excavator to load goods. After a period of time, the excavator finishes loading, and when the unmanned mine card is ready to exit from a loading area, the unmanned mine card and the acquisition equipment on the excavator are started to acquire topographic data. Generally, the acquisition process lasts for 10 seconds and then is uploaded to a cloud server, so that the terrain change caused by the work of the excavator can be completely recorded, the network load can be reduced, the redundant data is prevented from occupying extra bandwidth, and the working efficiency is improved.
And after receiving the sensor data acquired by the unmanned mine card and the excavator, the cloud server models and updates the three-dimensional map. And then slicing the newly-built local map according to the data format of the global map in a covering mode, and updating and combining the sliced local map in the three-dimensional point cloud map.
The unmanned mine card drives to the unloading area and unloads at the designated position. And when unloading is finished, starting the unmanned mine card acquisition equipment for 10 seconds, and uploading the data to the cloud server.
And after receiving the data of the terrain change of the unloading area sent by the unmanned mine card, the cloud server models and updates the three-dimensional point cloud map.
When a certain number of unmanned mine blocks are unloaded in the unloading area, the bulldozer is started manually and pushes and levels the materials close to the retaining wall at the edge of the unloading area. And after the bulldozer finishes the bulldozing operation, starting the three-dimensional point cloud map acquisition equipment to acquire 10 seconds of sensor data and uploading the data to the cloud server.
And after receiving the data of the terrain change of the unloading area sent by the bulldozer, the cloud server models and updates the map.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. A mining area three-dimensional map collecting and updating method is characterized by being used for a server and comprising the following steps:
receiving mining area topographic data collected by a collecting terminal;
modeling is carried out according to the mining area topographic data to obtain a mining area three-dimensional point cloud map; slicing the three-dimensional point cloud map into map area blocks with preset sizes according to the x-axis information and the y-axis information of the three-dimensional point cloud map;
sending the three-dimensional point cloud map of the mining area to each working terminal in the mining area;
the server receives the regional mining area topographic data collected by each working terminal, and a regional three-dimensional point cloud map is obtained after modeling is carried out on the regional mining area topographic data;
and slicing the partitioned three-dimensional point cloud map into partitioned map area blocks with the same block size as the map area blocks according to the x-axis information and the y-axis information of the partitioned three-dimensional point cloud map, and covering the partitioned map area blocks into the mining area three-dimensional point cloud map.
2. The method of claim 1, wherein the mine terrain data and the partitioned mine terrain data each comprise lidar point cloud data, visual camera image sensor data, and GPS/IMU data.
3. The mining area three-dimensional map collecting and updating method according to claim 2, characterized in that after mining area topographic data collected by a collecting terminal is received, whether road data exists in the topographic data is judged;
if yes, marking the road data, and recording a poi information point corresponding to the road data; the road data includes traffic lights, markers, and tracks located within the mine.
4. The mining area three-dimensional map collecting and updating method according to claim 3, wherein the specific process of modeling according to the mining area topographic data is as follows:
carrying out sand dust noise reduction on laser radar point cloud data in the topographic data of the mining area, and filtering dynamic obstacles;
RGB coloring is carried out on the three-dimensional points in each frame of point cloud;
and completing pose calculation of each frame of point cloud and modeling by GPS/IMU data subjected to time synchronization processing and calibration external parameters of the GPS/IMU data and the laser radar.
5. The mining area three-dimensional map collecting and updating method according to claim 1, which is used for a working terminal and comprises the following steps:
the working terminal receives a three-dimensional point cloud map of a mining area;
carrying out a working instruction according to the three-dimensional point cloud map of the mining area to a working area of the mining area;
and when the working area is reached, acquiring the topographic data of the subarea mining area when the topography of the working area is changed.
6. The mining area three-dimensional map collecting and updating method according to claim 5, wherein the regional mining area topographic data is collected when the topography of the working area changes, comprising,
an unmanned mine card in the working terminal travels to an excavation area in a working area of the mine area and is close to an excavator in the working terminal;
after loading is finished, the unmanned mine card and the excavator simultaneously acquire regional terrain data of an excavation area and send the regional terrain data to the server;
also comprises the following steps of (1) preparing,
the unmanned mine card travels to an unloading area in the working area;
after unloading is finished, the unmanned mine card collects regional topographic data of an unloading area;
also comprises the following steps of (1) preparing,
when the unloading of a preset number of unmanned mine cards is completed in the unloading area;
a bulldozer in the working terminal performs flattening and finishing on the earthwork material unloaded by the unmanned mine card;
and after finishing the arrangement by the bulldozer, acquiring regional topographic data of the unloading area by the bulldozer.
7. A mining area three-dimensional map acquisition and updating system is characterized by comprising:
the acquisition terminal is used for acquiring mining area topographic data in a mining area;
the working terminal executes the working instruction and collects regional topographic data according to the topographic change of the working region in the working region of the mining area;
the server is provided with a plurality of servers,
receiving mining area topographic data acquired by an acquisition terminal to generate a three-dimensional point cloud map;
and receiving regional topographic data acquired by the working terminal and updating the three-dimensional point cloud map.
8. The mining area three-dimensional map acquisition and updating system of claim 7,
the acquisition terminal is a data acquisition vehicle; and the data acquisition vehicle is provided with sensors such as a laser radar, a binocular vision industrial camera and a combined navigation GPS/IMU.
9. The mining area three-dimensional map collecting and updating system as claimed in claim 7, wherein the work terminal is an unmanned mine card, an excavator and a bulldozer; and the unmanned mine card, the excavator and the bulldozer are respectively provided with a laser radar, a binocular vision industrial camera, a combined navigation GPS/IMU and other sensors.
10. The mining area three-dimensional map collecting and updating system as claimed in claim 9, wherein the server is a cloud server.
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| CN202111590065.2A CN114359494A (en) | 2021-12-23 | 2021-12-23 | Mining area three-dimensional map collecting and updating method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115456383A (en) * | 2022-09-01 | 2022-12-09 | 北京路凯智行科技有限公司 | Surface mine unloading area control method and system |
| CN116753942A (en) * | 2023-08-16 | 2023-09-15 | 北京路凯智行科技有限公司 | Hierarchical updated mining area high-precision map manufacturing method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115456383A (en) * | 2022-09-01 | 2022-12-09 | 北京路凯智行科技有限公司 | Surface mine unloading area control method and system |
| CN116753942A (en) * | 2023-08-16 | 2023-09-15 | 北京路凯智行科技有限公司 | Hierarchical updated mining area high-precision map manufacturing method |
| CN116753942B (en) * | 2023-08-16 | 2023-11-24 | 北京路凯智行科技有限公司 | Hierarchical updated mining area high-precision map manufacturing method |
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