Method, device and system for updating map of unloading area of open pit mine

1 . A method for updating map of an unloading area of an open pit mine, comprising:

acquiring one or more coordinates of one or more first preset positions of an auxiliary operation equipment during an operation process by an auxiliary operation management system arranged in an industrial personal computer on the auxiliary operation equipment, wherein

the auxiliary operation equipment trims a retaining wall as a physical boundary of the unloading area during the operation process, and,

each first preset position is located within the unloading area during the operation process of the auxiliary operation equipment;

determining a first coordinate set, wherein the first coordinate set comprises a coordinate, of the one or more coordinates, outside a first map of the unloading area by the auxiliary operation management system;

updating the first map stored in a map management database in a fleet management system to a second map according to the first coordinate set by the fleet management system;

planning an entry path and an exit path in the unloading area of each unmanned vehicle of one or more unmanned vehicles according to the first map by the fleet management system, before updating the first map to the second map, wherein each unmanned vehicle comprises (i) an unmanned driving system that controls the unmanned vehicle to automatically travel along a travelling road to an entry point according to a travel instruction delivered by the fleet management system and (ii) an unmanned operation management system that feeds back a position of the entry point to the fleet management system;

planning the entry path and the exit path in the unloading area of each unmanned vehicle according to the second map by the fleet management system, after updating the first map to the second map;

acquiring a coordinate of each unmanned vehicle by the fleet management system;

determining whether each unmanned vehicle is not within the unloading area according to the coordinate of each unmanned vehicle by the fleet management system; and

sending the second map to each unmanned vehicle by the fleet management system, in a case where each unmanned vehicle is not within the unloading area, so that each unmanned vehicle updates the first map stored by itself to the second map,

wherein the auxiliary operation equipment comprises at least one of a loader or a bulldozer, wherein:

the loader comprises a first front wheel, a second front wheel, a first back wheel and a second back wheel, the one or more first preset positions comprise a foremost position of the first front wheel along a first travel direction of the loader, a foremost position of the second front wheel along the first travel direction, a backmost position of the first back wheel along the first travel direction of the loader, and a backmost position of the second back wheel along the first travel direction; and/or

the bulldozer comprises a first track and a second track, the one or more first preset positions comprise a foremost position of the first track along a second travel direction of the bulldozer, a foremost position of the second track along the second travel direction, a backmost position of the first track along the second travel direction, and a backmost position of the second track along the second travel direction.

2 . The method according to claim 1 , wherein the updating the first map to a second map according to the first coordinate set comprises:

determining a second coordinate set, wherein the second coordinate set comprises coordinates of a plurality of first boundary points of the first map; and

determining a union of the first coordinate set and the second coordinate set, wherein the union comprises coordinates of a plurality of second boundary points of the second map.

3 . The method according to claim 1 , wherein the acquiring one or more coordinates of one or more first preset positions of an auxiliary operation equipment during operation process comprises:

acquiring a coordinate of a second preset position of the auxiliary operation equipment during the operation process, wherein the second preset position is provided with a first positioning device; and

determining the one or more coordinates of the one or more first preset positions according to the coordinate of the second preset position and a size of the auxiliary operation equipment.

4 . The method according to claim 1 , wherein the unloading area comprises a plurality of areas, and the entry path and the exit path do not overlap with a first area in a case where the auxiliary operation equipment is in the first area.

5 . The method according to claim 1 , further comprising:

sending the second map to the auxiliary operation equipment by the fleet management system, in the case where each unmanned vehicle is not within the unloading area, so that the auxiliary operation equipment updates the first map stored by itself to the second map.

6 . A system for updating map of an unloading area of an open pit mine, comprising:

an industrial personal computer arranged on an auxiliary operation equipment and comprising an auxiliary operation management system, wherein the auxiliary operation management system is configured to acquire one or more coordinates of one or more first preset positions of the auxiliary operation equipment during operation process; and determine a first coordinate set, wherein the first coordinate set comprises a coordinate, of the one or more coordinates, outside a first map of the unloading area, wherein

the auxiliary operation equipment trims a retaining wall as a physical boundary of the unloading area during the operation process, and

each first preset position is located within the unloading area during the operation process of the auxiliary operation equipment; and

a fleet management system configured to:

update the first map stored in a map management database in the fleet management system to a second map according to the first coordinate set;

plan an entry path and an exit path in the unloading area of each unmanned vehicle of one or more unmanned vehicles according to the first map, before updating the first map to the second map, wherein each unmanned vehicle comprises (i) an unmanned driving system that controls the unmanned vehicle to automatically travel along a travelling road to an entry point according to a travel instruction delivered by the fleet management system and (ii) an unmanned operation management system that feeds back a position of the entry point to the fleet management system;

plan the entry path and the exit path in the unloading area of each unmanned vehicle according to the second map, after updating the first map to the second map;

acquire a coordinate of each unmanned vehicle;

determine whether each unmanned vehicle is not within the unloading area according to the coordinate of each unmanned vehicle; and

send the second map to each unmanned vehicle, in a case where each unmanned vehicle is not within the unloading area, so that each unmanned vehicle updates the first map stored by itself to the second map.

7 . The system according to claim 6 , further comprising:

a first positioning device arranged at a second preset position of the auxiliary operation equipment and configured to send a coordinate of the second preset position to the auxiliary operation management system,

wherein the auxiliary operation management system is configured to determine the one or more coordinates of the one or more first preset positions according to the coordinate of the second preset position and a size of the auxiliary operation equipment.

8 . The system according to claim 6 , further comprising:

a second positioning device arranged on each unmanned vehicle of the one or more unmanned vehicles and configured to send the coordinate of each unmanned vehicle to the fleet management system.

9 . The system according to claim 8 , wherein the fleet management system is further configured to send the second map to the auxiliary operation management system, in the case where each unmanned vehicle is not within the unloading area, so that the auxiliary operation management system updates the first map stored by itself to the second map.

10 . A non-transitory computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the map updating method according to claim 1 .