CN110597248B - Park unmanned intelligent inspection method, device, equipment and storage medium - Google Patents
Park unmanned intelligent inspection method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a park unmanned intelligent inspection method, a device, equipment and a storage medium, wherein a rectangular coordinate system model is established in a pre-collected electronic map according to the position and direction information of inspection equipment; extracting n point sets from the rectangular coordinate system model according to the position of the inspection equipment; wherein, the points in each point set form n-grade concentric circles taking the position of the inspection equipment as the center of a circle; extracting points falling in the routing inspection road area from the point set corresponding to the ith-level concentric circle to serve as ith-level candidate points; respectively connecting the position of the inspection equipment serving as an initial point with a first-level candidate point, respectively connecting an ith-level candidate point with an (i + 1) th-level candidate point, and establishing a plurality of candidate driving paths; calculating the distance of the candidate driving paths, and determining a target driving path from the candidate driving paths according to the distance; the invention can effectively plan the shortest driving path reaching the target inspection area, thereby improving the inspection efficiency of the inspection equipment.
Description
Technical Field
The invention relates to the field of computer processing, in particular to a park unmanned intelligent inspection method, a park unmanned intelligent inspection device, park unmanned intelligent inspection equipment and a storage medium.
Background
With the rapid development of economy, the promotion of government policies and the application of new technologies such as cloud computing, big data, internet of things and artificial intelligence, the construction of smart parks becomes a current hot topic. At present, wisdom garden still relies on the manpower to patrol and examine the garden, patrols and examines inefficiency, and intelligent degree is low. With the gradual maturity of the unmanned inspection equipment, such as robots and unmanned aerial vehicles, how to adopt the unmanned inspection equipment to replace people to perform inspection tasks and enable the unmanned inspection equipment to reach an inspection target area through the shortest driving path becomes a problem to be solved urgently in the field of unmanned inspection of parks.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a method, an apparatus, a device and a storage medium for park unmanned intelligent inspection, which can effectively plan a shortest driving path to a target inspection area, thereby improving inspection efficiency of inspection equipment and improving intelligent degree of park inspection.
In a first aspect, an embodiment of the present invention provides an unmanned intelligent tour inspection method for a park, including the following steps:
establishing a rectangular coordinate system model in a pre-collected electronic map according to the position and direction information of the inspection equipment; the electronic map comprises a target inspection area and an inspection road area communicated with the target inspection area;
extracting n point sets from the rectangular coordinate system model according to the position of the inspection equipment; wherein, the points in each point set form n-grade concentric circles with the position of the inspection equipment as the center of the circle, and n is more than or equal to 1;
extracting points falling in the inspection road area from the point set corresponding to the ith-level concentric circle to serve as ith-level candidate points; wherein i is more than or equal to 1 and less than or equal to n;
respectively connecting the position of the inspection equipment serving as an initial point with a first-level candidate point, respectively connecting an ith-level candidate point with an (i + 1) th-level candidate point, and establishing a plurality of candidate driving paths;
calculating the distance of a plurality of candidate driving paths;
and determining a target driving path from the candidate driving paths according to the distances of the candidate driving paths.
Compared with the prior art, the embodiment of the invention has the beneficial effects that:
collecting points from inspection equipment to a target inspection area in a concentric circle outward radiation mode, screening out points falling in the inspection road area from the points, connecting the points falling in the inspection road area, and establishing a plurality of candidate driving paths; the candidate running path corresponding to the minimum distance is determined from the candidate running paths to serve as the target running path.
As a preferable solution, the determining a target driving path from a plurality of candidate driving paths according to the distance between the plurality of candidate driving paths specifically includes:
comparing the distances of the candidate driving paths;
and extracting a candidate running path corresponding to the minimum distance as a target running path.
As a preferable scheme, the calculating the distances of the plurality of candidate driving paths specifically includes:
respectively calculating the distance between adjacent points in the ith candidate driving path;
and accumulating the distances between adjacent points in the ith candidate driving path to obtain the distance of the ith candidate driving path.
As a preferred scheme, the extracting n point sets from the rectangular coordinate system model according to the position of the inspection device specifically includes:
and extracting n point sets from the rectangular coordinate system model along the direction of outward radiation by taking the position of the inspection equipment as the center.
As a preferable scheme, the coordinates of any one point in the n point sets are:
wherein, Δ r is the radius difference of adjacent concentric circles; k represents the number of points of the first-order concentric circles radiating outward; n represents the number of concentric circles radiating outward; m [ -q, -q +1.. 0.. q-1, q ] is a sequence, and q ≦ k is used to control the angle of the sampling sector.
As a preferred scheme, the step of establishing a plurality of candidate driving paths by respectively connecting the inspection equipment with the first-level candidate point by taking the position of the inspection equipment as a starting point and respectively connecting the ith-level candidate point with the (i + 1) th-level candidate point includes:
judging whether the connecting line of the starting point and the first-stage candidate point exceeds the range of the routing inspection road area or not;
if so, rejecting the connection line between the starting point and the first-stage candidate point;
if not, keeping the connection line of the starting point and the first-stage candidate point to obtain a first line segment set;
judging whether a connecting line of the ith-level candidate point and the (i + 1) th-level candidate point exceeds the range of the routing inspection road area or not;
if yes, removing a connecting line between the i-th level candidate point and the i + 1-th level candidate point;
if not, keeping the connection between the ith level candidate point and the (i + 1) th level candidate point to obtain a second line segment set;
and establishing a plurality of candidate driving paths according to the first line segment set and the second line segment set.
Compared with the prior art, the embodiment of the invention has the beneficial effects that:
by removing the connecting lines which exceed the range of the routing inspection road area, the calculated amount of the candidate running paths can be effectively reduced, and the routing inspection efficiency of the routing inspection equipment is further improved.
In a second aspect, an embodiment of the present invention provides an unmanned intelligent tour inspection device for a park, including:
the model establishing module is used for establishing a rectangular coordinate system model in a pre-collected electronic map according to the position and direction information of the inspection equipment; the electronic map comprises a target inspection area and an inspection road area communicated with the target inspection area;
the point extraction module is used for extracting n point sets from the rectangular coordinate system model according to the position of the inspection equipment; wherein, the points in each point set form n-grade concentric circles with the position of the inspection equipment as the center of the circle, and n is more than or equal to 1;
the candidate point extracting module is used for extracting points falling in the routing inspection road area from the point set corresponding to the ith-level concentric circle to serve as ith-level candidate points; wherein i is more than or equal to 1 and less than or equal to n;
the route establishing module is used for respectively connecting the position of the inspection equipment, which is taken as an initial point, with a first-level candidate point, respectively connecting an ith-level candidate point with an (i + 1) th-level candidate point, and establishing a plurality of candidate driving routes;
the distance calculation module is used for calculating the distances of the candidate driving paths;
and the target driving path confirming module is used for determining a target driving path from the candidate driving paths according to the distances of the candidate driving paths.
Preferably, the target travel path confirmation module includes:
the distance comparison unit is used for comparing the distances of the candidate driving paths;
and the route extraction unit is used for extracting the candidate running route corresponding to the minimum distance as the target running route.
In a third aspect, an embodiment of the present invention provides a campus unmanned intelligent inspection device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor executes the computer program to implement the campus unmanned intelligent inspection method according to any one of the first aspect.
In a fourth aspect, the present invention provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, where the computer program, when running, controls a device on which the computer-readable storage medium is located to perform the campus unmanned intelligent inspection method according to any one of the first aspect.
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In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a park unmanned intelligent tour inspection method according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a routing inspection path provided by an embodiment of the invention;
FIG. 3 is a block diagram of an unmanned intelligent tour inspection device for a campus in accordance with a second embodiment of the present invention;
fig. 4 is a schematic block diagram of a campus unmanned intelligent inspection device according to a third 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.
Referring to fig. 1, a first embodiment of the present invention provides an unmanned intelligent tour inspection method for a park, including the following steps:
s11: establishing a rectangular coordinate system model in a pre-collected electronic map according to the position and direction information of the inspection equipment; the electronic map comprises a target inspection area and an inspection road area communicated with the target inspection area.
In the embodiment of the invention, the electronic map is pre-stored in a local memory of the inspection equipment, all road information and building information of the park to be inspected are stored, and the area to be inspected on the electronic map is divided to form a target inspection area. Then, the position of the inspection equipment is used as an original point, the advancing direction of the inspection equipment is a Y-axis direction, the direction perpendicular to the advancing direction of the inspection equipment is an X-axis direction, and a rectangular coordinate system model is established in the electronic map.
S12: extracting n point sets from the rectangular coordinate system model according to the position of the inspection equipment; wherein, the points in each point set form n-grade concentric circles taking the position of the inspection equipment as the center of a circle, and n is more than or equal to 1.
Preferably, the extracting n point sets from the rectangular coordinate system model according to the position of the inspection device specifically includes:
and extracting n point sets from the rectangular coordinate system model along the direction which takes the position of the inspection equipment as the center and radiates outwards.
Preferably, the coordinates of any one point in the n point sets are:
wherein, Delta r is the radius difference of adjacent concentric circles; k represents the number of points of the first-order concentric circles radiating outward; n represents the number of concentric circles radiating outward; m [ -q, -q +1.. 0.. q-1, q ] is a sequence, and q ≦ k is used to control the angle of the sampling sector.
Wherein k is any positive integer, and the larger the k value is, the denser the sampling points are; the larger the p value, the larger the fan center angle. As shown in fig. 2, a schematic diagram of a point set sampled in a range of 180 degrees in the advancing direction of the inspection equipment is given, and in the embodiment of the invention, points are taken in a manner of radiating outwards in concentric circles by taking the position of the inspection equipment as the center of a circle; the concentric circles are sequentially set as a first-level concentric circle, a second-level concentric circle …, an ith-level concentric circle …, and an nth-level concentric circle along the direction of outward radiation of the center of the circle.
S13: extracting points falling in the routing inspection road area from the point set corresponding to the ith-level concentric circle to serve as ith-level candidate points; wherein i is more than or equal to 1 and less than or equal to n.
S14: and respectively connecting the position of the inspection equipment serving as an initial point with the first-level candidate point, and respectively connecting the ith-level candidate point with the (i + 1) th-level candidate point to establish a plurality of candidate driving paths.
In the embodiment of the invention, the points falling in the inspection road area are screened out from the first-level concentric circles and are marked as first-level candidate points, the first-level candidate points and the positions of the inspection equipment are respectively connected, the points falling in the inspection road area are screened out from the second-level concentric circles and are marked as second-level candidate points, the second-level candidate points and the first-level candidate points are respectively connected, and the rest is done in sequence to obtain a plurality of candidate driving paths.
S15: and calculating the distance of the candidate driving paths.
S16: and determining a target driving path from the candidate driving paths according to the distances of the candidate driving paths.
Collecting points from inspection equipment to a target inspection area in a concentric circle outward radiation mode, screening out points falling in the inspection road area from the points, connecting the points falling in the inspection road area, and establishing a plurality of candidate driving paths; and determining a candidate driving path corresponding to the minimum distance from the plurality of candidate driving paths as a target driving path.
In an alternative embodiment, S16: determining a target driving path from the candidate driving paths according to the distances of the candidate driving paths, specifically comprising:
comparing the distances of the candidate driving paths;
and extracting a candidate running path corresponding to the minimum distance as a target running path.
As a preferable scheme, the calculating the distances of the plurality of candidate driving paths specifically includes:
respectively calculating the distance between adjacent points in the ith candidate driving path;
and accumulating the distances between adjacent points in the ith candidate driving path to obtain the distance of the ith candidate driving path.
In an alternative embodiment, S14: respectively connecting the position of the inspection equipment with a first-level candidate point as an initial point, respectively connecting an ith-level candidate point with an (i + 1) th-level candidate point, and establishing a plurality of candidate driving paths, specifically comprising:
judging whether the connecting line of the starting point and the first-stage candidate point exceeds the range of the routing inspection road area or not;
if so, rejecting the connection line between the starting point and the first-stage candidate point;
if not, keeping the connection line of the starting point and the first-stage candidate point to obtain a first line segment set;
judging whether a connecting line of the ith level candidate point and the (i + 1) th level candidate point exceeds the range of the routing inspection road area or not;
if yes, removing a connecting line between the i-th level candidate point and the i + 1-th level candidate point;
if not, keeping the connection line of the ith level candidate point and the (i + 1) th level candidate point to obtain a second line segment set;
and establishing a plurality of candidate driving paths according to the first line segment set and the second line segment set.
Compared with the prior art, the embodiment of the invention has the beneficial effects that:
collecting points from inspection equipment to a target inspection area in a concentric circle outward radiation mode, screening out points falling in the inspection road area from the points, connecting the points falling in the inspection road area, and establishing a plurality of candidate driving paths; the candidate running path corresponding to the minimum distance is determined from the candidate running paths to serve as the target running path.
Referring to fig. 3, a second embodiment of the present invention provides an unmanned intelligent tour inspection device for a park, including:
the model establishing module 1 is used for establishing a rectangular coordinate system model in a pre-collected electronic map according to the position and direction information of the inspection equipment; the electronic map comprises a target inspection area and an inspection road area communicated with the target inspection area;
the point extraction module 2 is used for extracting n point sets from the rectangular coordinate system model according to the position of the inspection equipment; wherein the points in each point set form n-level concentric circles taking the position of the inspection equipment as the center of a circle, and n is more than or equal to 1;
a candidate point extracting module 3, configured to extract, from a point set corresponding to the ith-level concentric circle, a point falling within the inspection road area as an ith-level candidate point; wherein i is more than or equal to 1 and less than or equal to n;
the route establishing module 4 is used for respectively connecting the position of the inspection equipment as an initial point with the first-level candidate point, respectively connecting the ith-level candidate point with the (i + 1) th-level candidate point and establishing a plurality of candidate driving routes;
a distance calculation module 5, configured to calculate distances of the multiple candidate driving paths;
and the target driving path confirmation module 6 is used for determining a target driving path from the candidate driving paths according to the distances of the candidate driving paths.
In an alternative embodiment, the target travel path confirmation module 6 includes:
the distance comparison unit is used for comparing the distances of the candidate driving paths;
and the route extracting unit is used for extracting the candidate running route corresponding to the minimum distance as the target running route.
In an alternative embodiment, the distance calculation module 5 comprises:
the calculating unit is used for respectively calculating the distance between adjacent points in the ith candidate driving path;
and the accumulation unit is used for accumulating the distance between adjacent points in the ith candidate driving path to obtain the distance of the ith candidate driving path.
In an optional embodiment, the point extraction module 2 is specifically configured to extract n point sets from the rectangular coordinate system model along a direction radiating outward with the position of the inspection device as a center.
In an alternative embodiment, the coordinates of any one of the n point sets are:
wherein, Delta r is the radius difference of adjacent concentric circles; k represents the number of points of the first-order concentric circles radiating outward; n represents the number of concentric circles radiating outward; q-1, q ] is an array, and q ≦ k is used to control the angle of the sampling sector.
In an alternative embodiment, the path establishing module 4 includes:
the first judging unit is used for judging whether a connecting line between the starting point and the first-stage candidate point exceeds the range of the routing inspection road area or not;
the first rejecting unit is used for rejecting a connecting line of the starting point and the first-stage candidate point if the first rejecting unit is used for rejecting the connecting line of the starting point and the first-stage candidate point;
the first storage unit is used for keeping the connection line of the starting point and the first-stage candidate point if the first segment set is not the first segment set;
the second judging unit is used for judging whether a connecting line of the ith-level candidate point and the (i + 1) th-level candidate point exceeds the range of the routing inspection road area or not;
the second rejecting unit is used for rejecting a connecting line between the ith-level candidate point and the (i + 1) th-level candidate point if the candidate point is the ith-level candidate point;
a second storing unit, configured to, if no, retain a connection between the ith level candidate point and the (i + 1) th level candidate point to obtain a second line segment set;
and the candidate driving path establishing unit is used for establishing a plurality of candidate driving paths according to the first line segment set and the second line segment set.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement without inventive effort.
Referring to fig. 4, a schematic diagram of a park unmanned intelligent inspection device according to a third embodiment of the present invention is shown. As shown in fig. 4, the unmanned intelligent tour inspection device for a campus includes: at least one processor 11, such as a CPU, at least one network interface 14 or other user interface 13, a memory 15, at least one communication bus 12, the communication bus 12 being used to enable connectivity communications between these components. The user interface 13 may optionally include a USB interface, a wired interface, and other standard interfaces. The network interface 14 may optionally include a Wi-Fi interface as well as other wireless interfaces. The memory 15 may comprise a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 15 may optionally comprise at least one memory device located remotely from the aforementioned processor 11.
In some embodiments, memory 15 stores the following elements, executable modules or data structures, or a subset thereof, or an expanded set thereof:
an operating system 151, which contains various system programs for implementing various basic services and for processing hardware-based tasks;
and (5) a procedure 152.
Specifically, the processor 11 is configured to call the program 152 stored in the memory 15 to execute the unattended smart tour inspection method for the campus according to the above-described embodiment, for example, step S11 shown in fig. 1. Alternatively, the processor, when executing the computer program, implements the functions of each module/unit in the above device embodiments, for example, a model building module.
Illustratively, the computer program may be partitioned into one or more modules/units, stored in the memory and executed by the processor, to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions that describe the execution of the computer program in the unmanned intelligent tour inspection device of the campus.
The park unmanned intelligent inspection equipment can be computing equipment such as a desktop computer, a notebook computer, a palm computer and a cloud server. The park unmanned intelligent inspection equipment can comprise, but is not limited to, a processor and a memory. It will be understood by those skilled in the art that the schematic diagram is merely an example of the campus unmanned intelligent inspection device and does not constitute a limitation of the campus unmanned intelligent inspection device, and may include more or less components than those shown, or some components in combination, or different components.
The Processor 11 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor, etc., and the processor 11 is a control center of the campus intelligent inspection device and connects various parts of the whole campus intelligent inspection device by using various interfaces and lines.
The memory 15 may be used to store the computer programs and/or modules, and the processor 11 may implement various functions of the smart patrol equipment by operating or executing the computer programs and/or modules stored in the memory and calling data stored in the memory. The memory 15 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. Further, the memory 15 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The integrated module/unit of the park unmanned intelligent inspection equipment can be stored in a computer readable storage medium if the module/unit is realized in the form of a software functional unit and is sold or used as an independent product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
A fourth embodiment of the present invention provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program runs, the apparatus where the computer-readable storage medium is located is controlled to execute the method for unattended intelligent inspection of a campus according to any one of the first embodiment.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (9)
1. An unmanned intelligent tour inspection method for a park is characterized by comprising the following steps:
establishing a rectangular coordinate system model in a pre-collected electronic map according to the position and direction information of the inspection equipment; the electronic map comprises a target inspection area and an inspection road area communicated with the target inspection area; establishing a rectangular coordinate system model in the electronic map by taking the position of the inspection equipment as an original point, the advancing direction of the inspection equipment as a Y-axis direction and the direction perpendicular to the advancing direction of the inspection equipment as an X-axis direction;
extracting n point sets from the rectangular coordinate system model according to the position of the inspection equipment; wherein, the points in each point set form n-grade concentric circles with the position of the inspection equipment as the center of the circle, and n is more than or equal to 1;
extracting points falling in the inspection road area from the point set corresponding to the ith-level concentric circle to serve as ith-level candidate points; wherein i is more than or equal to 1 and less than or equal to n;
respectively connecting the position of the inspection equipment serving as an initial point with a first-level candidate point, respectively connecting an ith-level candidate point with an (i + 1) th-level candidate point, and establishing a plurality of candidate driving paths;
calculating the distance of a plurality of candidate driving paths;
determining a target driving path from the candidate driving paths according to the distances of the candidate driving paths;
the method comprises the following steps of respectively connecting the position of the inspection equipment serving as an initial point with a first-level candidate point, respectively connecting an ith-level candidate point with an (i + 1) th-level candidate point, and establishing a plurality of candidate driving paths, and specifically comprises the following steps:
judging whether the connecting line of the starting point and the first-stage candidate point exceeds the range of the routing inspection road area or not;
if so, rejecting the connection line between the starting point and the first-stage candidate point;
if not, keeping the connection line of the starting point and the first-stage candidate point to obtain a first line segment set;
judging whether a connecting line of the ith-level candidate point and the (i + 1) th-level candidate point exceeds the range of the routing inspection road area or not;
if yes, removing a connecting line between the i-th level candidate point and the i + 1-th level candidate point;
if not, keeping the connection between the ith level candidate point and the (i + 1) th level candidate point to obtain a second line segment set;
and establishing a plurality of candidate driving paths according to the first line segment set and the second line segment set.
2. The unmanned intelligent tour inspection method for park of claim 1, wherein the determining a target travel path from a plurality of candidate travel paths based on distances of the candidate travel paths comprises:
comparing the distances of the candidate driving paths;
and extracting a candidate running path corresponding to the minimum distance as a target running path.
3. The unmanned intelligent tour inspection method for the campus of claim 1 wherein the calculating of the distances of the candidate travel paths includes:
respectively calculating the distance between adjacent points in the ith candidate driving path;
and accumulating the distances between adjacent points in the ith candidate driving path to obtain the distance of the ith candidate driving path.
4. The unmanned smart tour inspection method for the campus of claim 1, wherein the extracting n sets of points from the rectangular coordinate system model based on the location of the tour inspection device comprises:
and extracting n point sets from the rectangular coordinate system model along the direction which takes the position of the inspection equipment as the center and radiates outwards.
5. The unmanned smart tour inspection method for a campus of claim 1 or 4 wherein the coordinates of any one of the n sets of points is:
wherein, Delta r is the radius difference of adjacent concentric circles; k represents the number of points of the first-order concentric circles radiating outward; n represents the number of concentric circles radiating outward; q-1, q ] is an array, and q ≦ k is used to control the angle of the sampling sector.
6. The utility model provides an unmanned wisdom inspection device in garden, its characterized in that includes:
the model establishing module is used for establishing a rectangular coordinate system model in a pre-collected electronic map according to the position and direction information of the inspection equipment; the electronic map comprises a target inspection area and an inspection road area communicated with the target inspection area; use the position of equipment of patrolling and examining is the original point, the direction of advance of equipment of patrolling and examining is Y axle direction, perpendicular to the direction of advance of equipment of patrolling and examining is the X axle direction set up rectangular coordinate system model among the electronic map
The point extraction module is used for extracting n point sets from the rectangular coordinate system model according to the position of the inspection equipment; wherein, the points in each point set form n-grade concentric circles with the position of the inspection equipment as the center of the circle, and n is more than or equal to 1;
the candidate point extracting module is used for extracting points falling in the routing inspection road area from the point set corresponding to the ith-level concentric circle to serve as ith-level candidate points; wherein i is more than or equal to 1 and less than or equal to n;
the route establishing module is used for respectively connecting the position of the inspection equipment, which is taken as a starting point, with a first-stage candidate point, respectively connecting an ith-stage candidate point with an (i + 1) th-stage candidate point, and establishing a plurality of candidate driving routes;
the distance calculation module is used for calculating the distance of the candidate driving paths;
the target driving path confirming module is used for determining a target driving path from the candidate driving paths according to the distances of the candidate driving paths;
the path establishment module comprises:
the first judging unit is used for judging whether a connecting line between the starting point and the first-stage candidate point exceeds the range of the routing inspection road area or not;
the first rejecting unit is used for rejecting a connecting line of the starting point and the first-stage candidate point if the starting point and the first-stage candidate point are not connected;
the first storage unit is used for keeping the connection line of the starting point and the first-stage candidate point if the first segment set is not the first segment set;
the second judging unit is used for judging whether a connecting line of the ith-level candidate point and the (i + 1) th-level candidate point exceeds the range of the routing inspection road area or not;
the second rejecting unit is used for rejecting a connecting line between the ith-level candidate point and the (i + 1) th-level candidate point if the candidate point is the ith-level candidate point;
a second storing unit, configured to, if not, retain a connection between the i-th level candidate point and the i + 1-th level candidate point to obtain a second line segment set;
and the candidate driving path establishing unit is used for establishing a plurality of candidate driving paths according to the first line segment set and the second line segment set.
7. The intelligent campus routing inspection device of claim 6 wherein the target travel path verification module includes:
the distance comparison unit is used for comparing the distances of the candidate driving paths;
and the route extraction unit is used for extracting the candidate running route corresponding to the minimum distance as the target running route.
8. An unmanned smart patrol inspection device for a campus, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor when executing the computer program implementing the unmanned smart patrol inspection method for a campus of any one of claims 1 to 5.
9. A computer-readable storage medium comprising a stored computer program, wherein the computer program when executed controls a device on which the computer-readable storage medium is located to perform the unattended smart inspection method of a campus of any one of claims 1 to 5.
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