CN-121655502-B - Method, device, equipment and storage medium for managing map of dumping site

CN121655502BCN 121655502 BCN121655502 BCN 121655502BCN-121655502-B

Abstract

The invention discloses a method, a device, equipment and a storage medium for managing a map of a dumping site. The technical problems of insufficient reliability and low efficiency of manually marking the position of the retaining wall caused by the influence of dust in the existing unmanned mining card soil discharging operation are solved by collecting the position and action data of the operation process of the operation vehicle to dynamically update the map of the soil discharging field, the position of the retaining wall and the information of the unloading position. The terrain and retaining wall data are synchronously acquired in the operation process of the operation vehicle, so that the fusion of production and measurement is realized, and the data acquisition cost is reduced. Through flatness detection, positioning errors caused by uneven places are effectively filtered, and accuracy of the map is guaranteed. By dynamically updating the map and maintaining the unloading position, the automatic switching of the unloading position state is realized, and the overall turnover efficiency of the dumping site is improved.

Inventors

LIU XUJIN
ZHAO QING
ZHANG YONGQIANG

Assignees

临工重机股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260205

Claims (7)

1. A method for managing a map of a dump, comprising: Collecting data of the topography of a dumping site and data related to retaining walls in the operation process of a dumping site operation vehicle; detecting the ground flatness of the dumping site, and generating a dumping site map according to the terrain data of the dumping site and the related data of the retaining wall when the flatness is qualified; in the continuous operation process of the operation vehicle, synchronously acquiring update data, dynamically updating a dump map based on the update data, and generating, distributing and maintaining unloading positions based on the dynamically updated dump map; wherein, gather the data of earth discharge site topography and barricade related data, include: Acquiring a working range of a working vehicle, and determining a soil discharge field range according to the working range; the method comprises the steps of monitoring the body gesture of a working vehicle in real time through positioning equipment, and combining the range of the dumping site and the body gesture to obtain the topographic data of the dumping site; When the operation mode is identified as a retaining wall operation state, recording position data of the operation vehicle in real time through positioning equipment, and synchronously recording action parameters of the operation vehicle through an action detection sensor, wherein the action parameters comprise a front frame and rear frame mutual rotation angle, a movable arm lifting angle and a bucket and movable arm mutual rotation angle; taking the position data, the vehicle body posture and the action parameters as retaining wall related data; wherein the generating a dump map according to the dump topography data and the retaining wall related data comprises: Preprocessing the topographic data of the dumping site, and marking the situation of the topographic distribution and the flatness of the dumping site to form complete topographic basic data; Converting the position data into a geocentric Cartesian coordinate to obtain a converted position coordinate; obtaining a preset vehicle structure parameter, substituting the transformation position coordinate, the action parameter and the vehicle structure parameter into a preset retaining wall positioning algorithm to obtain a retaining wall position and a retaining wall height; fusing the terrain basic data with the position and the height of the retaining wall to construct a soil discharge field map; wherein, the generating, distributing and maintaining unloading positions based on the dynamically updated dumping site map comprises the following steps: based on the dynamically updated map of the dump, the initial position and the range of each unloading position are defined, and the unloading position generation is completed; when the heavy load of the transport vehicle is identified to go to a dumping site, inquiring the current unloading position states in real time, and screening out target unloading positions in available states; distributing the target unloading position to a transport vehicle, and modifying the unloading position state of the target unloading position from an available state to an occupied state; and after the transport vehicle finishes unloading and drives away from the target unloading position, modifying the unloading position state of the target unloading position from an occupied state to a state to be maintained.
2. The method of claim 1, wherein detecting the surface flatness of the dump, comprises: Monitoring a pitch angle and a roll angle of the working vehicle in real time, and acquiring a preset angle threshold value corresponding to the pitch angle and the roll angle; and when the pitch angle and the side inclination angle do not exceed the corresponding preset angle threshold values, determining that the ground flatness of the dumping site in the corresponding area is qualified, otherwise, determining that the ground flatness of the dumping site in the corresponding area is unqualified, and marking the corresponding area as a region to be flattened or a restricted area.
3. The method of claim 1, wherein dynamically updating the dump map based on the update data comprises: Updating the newly added topographic data in the updated data to update the range of the dumping site and marking; Substituting the retaining wall update data in the update data into a preset retaining wall positioning algorithm, and calculating to obtain the updated retaining wall position and retaining wall height.
4. The method according to claim 1, characterized in that the method further comprises: Taking the unloading bit with the unloading bit state being the state to be maintained as a region to be maintained; And (3) dispatching the working vehicle of the dumping site to carry out leveling operation on the area to be maintained, and modifying the unloading position state of the area to be maintained from the state to be maintained to the available state after the flatness of the area to be maintained is detected to be qualified.
5. A dump map management device, comprising: The map related data acquisition module is used for acquiring the topography data of the dumping site and the related data of the retaining wall in the operation process of the operation vehicle of the dumping site; The system comprises a dumping site map generation module, a data processing module and a data processing module, wherein the dumping site map generation module is used for detecting the ground flatness of a dumping site, and generating a dumping site map according to the topographic data of the dumping site and the related data of the retaining wall when the flatness is qualified; The unloading position maintenance module is used for synchronously collecting update data in the continuous operation process of the operation vehicle, dynamically updating the dump map based on the update data, and generating, distributing and maintaining unloading positions based on the dynamically updated dump map; The map related data acquisition module is specifically used for acquiring the operation range of the operation vehicle and determining the range of the dumping site according to the operation range; the method comprises the steps of monitoring the body gesture of a working vehicle in real time through positioning equipment, and combining the range of the dumping site and the body gesture to obtain the topographic data of the dumping site; When the operation mode is identified as a retaining wall operation state, recording position data of the operation vehicle in real time through positioning equipment, and synchronously recording action parameters of the operation vehicle through an action detection sensor, wherein the action parameters comprise a front frame and rear frame mutual rotation angle, a movable arm lifting angle and a bucket and movable arm mutual rotation angle; taking the position data, the vehicle body posture and the action parameters as retaining wall related data; The map generation module of the dump specifically comprises a map generation unit of the dump, a map generation unit and a map generation unit, wherein the map generation unit of the dump is used for preprocessing the topographic data of the dump and marking the situation of the topographic distribution and the flatness of the dump to form complete topographic basic data; Converting the position data into a geocentric Cartesian coordinate to obtain a converted position coordinate; obtaining a preset vehicle structure parameter, substituting the transformation position coordinate, the action parameter and the vehicle structure parameter into a preset retaining wall positioning algorithm to obtain a retaining wall position and a retaining wall height; fusing the terrain basic data with the position and the height of the retaining wall to construct a soil discharge field map; The unloading position maintenance module specifically comprises an unloading position maintenance unit, a loading position generation unit and a loading position generation unit, wherein the unloading position maintenance unit is used for determining the initial position and range of each unloading position based on a dynamically updated dumping site map and completing the unloading position generation; when the heavy load of the transport vehicle is identified to go to a dumping site, inquiring the current unloading position states in real time, and screening out target unloading positions in available states; distributing the target unloading position to a transport vehicle, and modifying the unloading position state of the target unloading position from an available state to an occupied state; and after the transport vehicle finishes unloading and drives away from the target unloading position, modifying the unloading position state of the target unloading position from an occupied state to a state to be maintained.
6. An electronic device, the electronic device comprising: At least one processor; and a memory communicatively coupled to the at least one processor; Wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.
7. A computer storage medium storing computer instructions for causing a processor to perform the method of any one of claims 1-4 when executed.

Description

Method, device, equipment and storage medium for managing map of dumping site Technical Field The invention relates to the technical field of unmanned, in particular to a map management method, device and equipment for a dumping site and a storage medium. Background The dumping site is a special site for stacking and stripping surface soil and rock in open-pit mining, and the structure of the dumping site generally comprises a travelling belt, a shunting belt and a soil discharging belt, wherein a retaining wall is built at the edge of the soil discharging belt as a key safety facility. In the traditional operation mode, a driver of a driving vehicle depends on experience of the driver to judge the soil unloading position. With the development of unmanned technologies, mining truck automatic driving is a trend, but the dynamic uncertainty of the dump environment presents serious challenges for vehicle positioning and path planning. In the prior art, the positioning of the unmanned mine truck in the dumping site mainly depends on two schemes, namely, the reversing positioning is realized by scanning a rear retaining wall based on real-time sensing of a vehicle-mounted laser radar, and the map acquisition vehicle is adopted to map the terrain of the dumping site in advance, and the map acquisition vehicle is manually marked to determine the position of the retaining wall and then is led into the system, so that the reliability can be improved in a combined way. In the operation flow, the transport vehicle enters the dumping site along the travelling belt, and is reversed to the dumping belt after the steering of the shunting belt is completed, the container is lifted to be unloaded after the position of the retaining wall is perceived, bi Shili is unloaded, and the bulldozer or the loader carries out leveling maintenance on the unloading position and the retaining wall. In the prior art, the accuracy of the laser radar sensing mode is drastically reduced in the unloading dust environment, so that the positioning reliability is insufficient. Likewise, the pre-collection map mode is low in efficiency, is difficult to adapt to the continuous and outward expansion dynamic change of the dumping line, and needs to update the retaining wall coordinates manually and frequently. Both methods have data hysteresis, can not reflect site changes after operation in real time, and directly influence the unloading safety and the operation efficiency of the unmanned mining card. Disclosure of Invention The invention provides a method, a device, equipment and a storage medium for managing a map of a dump, which dynamically update the map of the dump, the position of a retaining wall and unloading position information by collecting position and action data of an operation process of an operation vehicle, and solve the technical problems of insufficient reliability and low efficiency of manually marking the position of the retaining wall caused by the influence of dust during the laser perception in the conventional unmanned mining card dumping operation. According to an aspect of the present invention, there is provided a method of managing a map of a dump, the method comprising: Collecting data of the topography of a dumping site and data related to retaining walls in the operation process of a dumping site operation vehicle; Detecting the ground flatness of the dumping site, and generating a dumping site map according to the terrain data of the dumping site and the related data of the retaining wall when the flatness is qualified; In the continuous operation process of the operation vehicle, update data are synchronously collected, a dump map is dynamically updated based on the update data, and unloading positions are generated, distributed and maintained based on the dynamically updated dump map. The method comprises the steps of acquiring the ground surface data and retaining wall related data of a working vehicle, determining the ground surface range according to the working range, monitoring the vehicle body posture of the working vehicle in real time through positioning equipment, combining the ground surface range with the vehicle body posture to obtain the ground surface data, identifying the working mode of the working vehicle, recording the position data of the working vehicle in real time through the positioning equipment when the working mode is identified as the retaining wall working state, and synchronously recording the action parameters of the working vehicle through action detection sensors, wherein the action parameters comprise the mutual rotation angle of a front frame and a rear frame, the lifting angle of a movable arm and the mutual rotation angle of a bucket and the movable arm, and taking the position data, the vehicle body posture and the action parameters as the retaining wall related data. Optionally, detecting the ground flatness of the dumping site comprises the steps of monitoring the pitch angl