CN110268355A - Control method, equipment and the storage medium of intelligent surveying device - Google Patents

Control method, equipment and the storage medium of intelligent surveying device Download PDF

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Publication number
CN110268355A
CN110268355A CN201780085424.4A CN201780085424A CN110268355A CN 110268355 A CN110268355 A CN 110268355A CN 201780085424 A CN201780085424 A CN 201780085424A CN 110268355 A CN110268355 A CN 110268355A
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survey
intelligent
surveying
route
equipment
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刘均
刘新
宋朝忠
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Shenzhen Launch Technology Co Ltd
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Shenzhen Launch Technology Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

The invention discloses a kind of control methods of intelligent surveying device, the described method comprises the following steps: controlling intelligent surveying device according to the exploration route received and carry out automatic Pilot；During intelligent surveying device carries out automatic Pilot, monitoring road conditions and the image for capturing each exploration node；The height and width of the testee in each exploration node are calculated by the transmitting and reflection interval that receive laser beam, and intelligent surveying device is at a distance from testee；According to the height of the testee, width, and intelligent surveying device is at a distance from testee, the radian of testee is calculated in conjunction with the tilt angle of intelligent surveying device itself, and will survey the image of node, the height of testee, width, intelligent surveying device at a distance from testee and the radian Real-time Feedback of testee is to user.The invention also discloses the control equipment and computer readable storage medium of a kind of intelligent surveying device.The present invention can be improved exploration efficiency.

Description

Control method and device of intelligent surveying equipment and storage medium
Technical Field
The invention relates to the field of automatic driving, in particular to a control method of intelligent surveying equipment and a computer readable storage medium.
Background
At present, when surveying roads, tunnels, caves and the like, a vehicle loaded with surveying equipment, such as a camera, laser equipment and the like, is driven by special personnel to manually shoot or measure a measured object. And then, calculating the height and width of the measured object according to the shot picture and the position of the camera in proportion. Survey through special personnel, need be driven the vehicle by special personnel, also need special personnel to shoot and operate laser equipment simultaneously, the personnel that need are more, cause personnel's a large amount of wastes. Moreover, when surveying in a cave with a complex terrain, a person can directly survey the cave, which is easy to cause danger.
Disclosure of Invention
The invention mainly aims to provide a control method of intelligent surveying equipment and a computer readable storage medium, and aims to solve the technical problems that people survey, personnel data are wasted, and danger is easily caused.
To achieve the above object, the present invention provides a control method of an intelligent surveying device, the method comprising:
controlling the intelligent surveying equipment to automatically drive according to the received surveying route;
monitoring road conditions and capturing images of each survey node in the automatic driving process of the intelligent survey equipment;
calculating the height and width of the measured object in each survey node and the distance between the intelligent survey equipment and the measured object by receiving the emission and reflection time of the laser beam;
and calculating the radian of the measured object by combining the inclination angle of the intelligent surveying equipment according to the height and the width of the measured object and the distance between the intelligent surveying equipment and the measured object, and feeding back the image of the surveying node, the height and the width of the measured object, the distance between the intelligent surveying equipment and the measured object and the radian of the measured object to the user in real time.
Optionally, after the step of feeding back the image of the survey node, the height and width of the measured object, the distance between the intelligent survey device and the measured object, and the radian of the measured object to the user in real time, the method further includes:
recording a driving track according to the surveying route, and marking the recorded image of the surveying node, the radian of the measured object and the distance between the intelligent surveying equipment and the measured object in the driving track;
and generating a survey report according to the mark and the driving track, and pushing the survey report to a user.
Optionally, after the step of feeding back the image of the survey node, the height and width of the measured object, the distance between the intelligent survey device and the measured object, and the radian of the measured object to the user in real time, the method further includes:
monitoring a survey track shape of a current driven survey route of the intelligent survey device;
judging whether the survey track shape of the current driven survey route of the intelligent survey equipment is matched with the track shape of the corresponding route in the planned survey route;
and if the measured data is matched with the measured data, the intelligent surveying equipment is continuously controlled to survey according to the current route, otherwise, the surveying route of the intelligent surveying equipment is adjusted according to the planned surveying route, and the intelligent surveying equipment is controlled to continuously survey according to the adjusted surveying route.
Optionally, the step of controlling the intelligent survey equipment to automatically drive according to the received survey route further comprises:
monitoring the personnel and vehicle density of roads which are not driven in the roads passing by the survey route in real time;
and during the driving process, the driving speed of the intelligent surveying equipment is changed according to the detected personnel and vehicle density.
Optionally, the monitoring the road condition includes: air temperature, air humidity, air quality and soil texture of the road traversed during automatic driving according to the survey route are monitored.
In addition, in order to achieve the above object, the present invention also provides a control device of an intelligent surveying device, which includes a processor and a memory, wherein the memory stores a control program of the intelligent surveying device;
the processor is configured to execute a control program of the intelligent survey apparatus to perform the steps of:
controlling the intelligent surveying equipment to automatically drive according to the received surveying route;
monitoring road conditions and capturing images of each survey node in the automatic driving process of the intelligent survey equipment;
calculating the height and width of the measured object in each survey node and the distance between the intelligent survey equipment and the measured object by receiving the emission and reflection time of the laser beam;
and calculating the radian of the measured object by combining the inclination angle of the intelligent surveying equipment according to the height and the width of the measured object and the distance between the intelligent surveying equipment and the measured object, and feeding back the image of the surveying node, the height and the width of the measured object, the distance between the intelligent surveying equipment and the measured object and the radian of the measured object to the user in real time.
According to the control method of the intelligent surveying equipment and the computer readable storage medium, firstly, the intelligent surveying equipment is controlled to automatically drive according to the received surveying route; monitoring road conditions and capturing images of each survey node in the automatic driving process of the intelligent survey equipment; calculating the height and width of the measured object in each survey node and the distance between the intelligent survey equipment and the measured object by receiving the emission and reflection time of the laser beam; according to the height and the width of the measured object and the distance between the intelligent surveying equipment and the measured object, the radian of the measured object is calculated by combining the inclination angle of the intelligent surveying equipment, and the image of the surveying node, the height and the width of the measured object, the distance between the intelligent surveying equipment and the measured object and the radian of the measured object are fed back to a user in real time without driving a vehicle and shooting and measuring by special personnel, so that the personnel required by surveying are reduced, and the surveying cost is reduced; meanwhile, survey through intelligent survey equipment, can freely come in and go out places such as the complicated cave of topography and survey, need not have special personnel to go to survey, can not cause the emergence of personnel's dangerous accident, guaranteed personal safety.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment of a method of controlling an intelligent survey apparatus of the present invention;
FIG. 2 is a schematic flow chart of a second embodiment of a method of controlling the intelligent survey apparatus of the present invention;
FIG. 3 is a schematic flow chart of a third embodiment of a control method for an intelligent survey apparatus of the present invention;
FIG. 4 is a schematic flow chart of a fourth embodiment of a control method for an intelligent survey apparatus of the present invention;
fig. 5 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: firstly, controlling intelligent surveying equipment to automatically drive according to a received surveying route; monitoring road conditions and capturing images of each survey node in the automatic driving process of the intelligent survey equipment; calculating the height and width of the measured object in each survey node and the distance between the intelligent survey equipment and the measured object by receiving the emission and reflection time of the laser beam; according to the height and the width of the measured object and the distance between the intelligent surveying equipment and the measured object, the radian of the measured object is calculated by combining the inclination angle of the intelligent surveying equipment, and the image of the surveying node, the height and the width of the measured object, the distance between the intelligent surveying equipment and the measured object and the radian of the measured object are fed back to a user in real time without driving a vehicle and shooting and measuring by special personnel, so that the personnel required by surveying are reduced, and the surveying cost is reduced; meanwhile, survey through intelligent survey equipment, can freely come in and go out places such as the complicated cave of topography and survey, need not have special personnel to go to survey, can not cause the emergence of personnel's dangerous accident, guaranteed personal safety.
Embodiments of the present invention allow for the measured object to be manually photographed or measured, typically by a dedicated person driving a vehicle carrying surveying equipment, such as a camera, laser equipment, etc., in the prior art. And then, calculating the height and width of the measured object according to the shot picture and the position of the camera in proportion. The disadvantages of this solution are: survey through special personnel, need be driven the vehicle by special personnel, also need special personnel to shoot and operate laser equipment simultaneously, the personnel that need are more, cause personnel's a large amount of wastes. Moreover, when surveying in a cave with a complex terrain, a person can directly survey the cave, which is easy to cause danger.
For this reason, the embodiment of the invention provides a control method of intelligent surveying equipment, which comprises the steps of firstly controlling the intelligent surveying equipment to automatically drive according to a received surveying route; monitoring road conditions and capturing images of each survey node in the automatic driving process of the intelligent survey equipment; calculating the height and width of the measured object in each survey node and the distance between the intelligent survey equipment and the measured object by receiving the emission and reflection time of the laser beam; according to the height and the width of the measured object and the distance between the intelligent surveying equipment and the measured object, the radian of the measured object is calculated by combining the inclination angle of the intelligent surveying equipment, and the image of the surveying node, the height and the width of the measured object, the distance between the intelligent surveying equipment and the measured object and the radian of the measured object are fed back to a user in real time without driving a vehicle and shooting and measuring by special personnel, so that the personnel required by surveying are reduced, and the surveying cost is reduced; meanwhile, survey through intelligent survey equipment, can freely come in and go out places such as the complicated cave of topography and survey, need not have special personnel to go to survey, can not cause the emergence of personnel's dangerous accident, guaranteed personal safety.
Referring to fig. 1, fig. 1 is a schematic flow chart of a first embodiment of a control method of an intelligent survey apparatus of the invention.
In this embodiment, the method includes:
step S10, controlling the intelligent surveying equipment to automatically drive according to the received surveying route;
in this embodiment, the various embodiments of the present invention are implemented by an intelligent surveying device (also called an unmanned device, a computer-driven device, or a wheeled mobile robot), which is an intelligent surveying device that is unmanned by a computer system, and more specifically, implemented by a computer system in the intelligent surveying device. And the intelligent surveying equipment is provided with an on-board unit, laser equipment, a camera and surveying equipment, wherein the camera can be independent and can be built in the on-board unit, and the on-board unit can be Redbox, Tbox or other communicable on-board units. The vehicle-mounted unit can be realized based on an Advanced Driver Assistance System (ADAS), wherein the ADAS utilizes various sensors installed on a vehicle, such as a temperature sensor, a humidity sensor, a light sensor and the like, to sense the surrounding environment at any time during the driving process of the equipment, collect data, identify, detect and track static and dynamic objects, and combine with map data of a navigator to perform systematic operation and analysis, thereby effectively avoiding other vehicles, pedestrians and the like on a road and effectively increasing the driving comfort and safety of the intelligent surveying equipment. Effectively reduce the driving risk to monitor the road conditions and take a candid photograph every survey the image of node through on-vehicle unit, combine laser equipment to and each sensor, thereby realize surveying the accurate of surveying the object.
Specifically, the survey route may be directly input by the user, and when the autopilot command is received, the intelligent survey equipment may autopilot according to the survey route input by the user. Or the user inputs a survey starting point and a survey ending point, the intelligent survey equipment generates a plurality of survey routes according to the survey starting point and the survey ending point, the generated routes are pushed to the user, the user selects the optimal survey route, and the intelligent survey equipment surveys according to the optimal survey route selected by the user. Wherein the survey route includes survey nodes.
Step S20, monitoring road conditions and receiving images of each survey node in the automatic driving process of the intelligent survey equipment;
during the automatic driving process of the intelligent surveying equipment, road condition information passing by is monitored in real time through a vehicle-mounted unit, when a surveying node is monitored, a camera is started to shoot images, and meanwhile, laser equipment is started to generate laser beams; after the camera captures an image of the node and the laser device generates a laser beam, the captured image, the time of laser emission and reflection are sent to the on-board unit.
Step S30, calculating the height and width of the measured object in each survey node and the distance between the intelligent survey equipment and the measured object by receiving the emission and reflection time of the laser beam;
after the vehicle-mounted unit receives the image sent by the camera and the emission and reflection time of the laser beam sent by the laser device, the height and width of the measured object in each surveying node and the distance between the intelligent surveying device and the measured object can be calculated through the emission and reflection time of the laser beam, wherein how to calculate the flying height and width of the measured object through the laser and the calculation are specific to the general method in the prior art, and are not described herein again. Further, when the height and the width of the measured object in each surveying node and the distance between the intelligent surveying device and the measured object are calculated through laser, calculation can be further performed in combination with the light intensity, the temperature and the air humidity at that time, so as to prevent the light intensity, the temperature and the air humidity from interfering with the calculation, thereby causing the calculated height and width of the measured object and the distance between the intelligent surveying device and the measured object to be inaccurate.
And step S40, calculating the radian of the measured object according to the height and the width of the measured object and the distance between the intelligent surveying equipment and the measured object by combining the inclination angle of the intelligent surveying equipment, and feeding back the image of the surveying node, the height and the width of the measured object, the distance between the intelligent surveying equipment and the measured object and the radian of the measured object to a user in real time.
After the height and the width of the measured object and the distance between the intelligent surveying equipment and the measured object are obtained through calculation, the radian of the measured object can be calculated by combining the inclination angle of the intelligent surveying equipment, such as the radians of objects such as bridges and tunnels. And then feeding back the image of the surveying node, the height and the width of the measured object, the distance between the intelligent surveying equipment and the measured object and the radian of the measured object to the user in real time.
According to the control method of the intelligent surveying equipment, firstly, the intelligent surveying equipment is controlled to automatically drive according to the received surveying route; monitoring road conditions and capturing images of each survey node in the automatic driving process of the intelligent survey equipment; calculating the height and width of the measured object in each survey node and the distance between the intelligent survey equipment and the measured object by receiving the emission and reflection time of the laser beam; according to the height and the width of the measured object and the distance between the intelligent surveying equipment and the measured object, the radian of the measured object is calculated by combining the inclination angle of the intelligent surveying equipment, and the image of the surveying node, the height and the width of the measured object, the distance between the intelligent surveying equipment and the measured object and the radian of the measured object are fed back to a user in real time without driving a vehicle and shooting and measuring by special personnel, so that the personnel required by surveying are reduced, and the surveying cost is reduced; meanwhile, survey through intelligent survey equipment, can freely come in and go out places such as the complicated cave of topography and survey, need not have special personnel to go to survey, can not cause the emergence of personnel's dangerous accident, guaranteed personal safety.
Further, referring to fig. 2, a second embodiment of the control method of the intelligent survey apparatus of the invention is proposed based on the first embodiment of the control method of the intelligent survey apparatus of the invention.
In this embodiment, the steps after step S40 further include:
step S50, recording a driving track according to the survey route, and marking the recorded image of the survey node, the radian of the measured object and the distance between the intelligent survey equipment and the measured object in the driving track;
and step S60, generating a survey report according to the marks and the driving tracks, and pushing the survey report to a user.
In the embodiment, after the image of the survey node, the height and the width of the measured object, the distance between the intelligent survey device and the measured object and the radian of the measured object are fed back to the user in real time, in the running process of the intelligent survey device, the running track can be recorded according to the survey route, the recorded image of the survey node, the radian of the measured object and the distance between the intelligent survey device and the measured object are marked in the running track, then a survey report is generated according to the marking and the running track, the survey report is pushed to the user so that the user can check the survey report, the user does not need to spend extra time to make the survey report, the user time is saved, and the user experience is improved.
Further, referring to fig. 3, a third embodiment of the control method of the intelligent survey apparatus of the invention is proposed based on the first embodiment of the control method of the intelligent survey apparatus of the invention.
In this embodiment, the steps after step S40 further include:
step S70, monitoring the shape of the survey track of the current driving survey route of the intelligent survey equipment;
step S80, judging whether the survey track shape of the current driving survey route of the intelligent survey equipment is matched with the track shape of the corresponding route in the planned survey route;
step S90, if the current route is matched with the route, the intelligent surveying equipment is continuously controlled to carry out surveying according to the current route;
and S100, if the survey routes are not matched, adjusting the survey routes of the intelligent survey equipment according to the planned survey routes, and controlling the intelligent survey equipment to continue surveying according to the adjusted survey routes.
In this embodiment, in the process of automatic driving of the intelligent surveying device, monitoring the surveying track shape of the current driving surveying route of the intelligent surveying device in real time so as to determine whether the surveying track shape of the current driving surveying route of the intelligent surveying device matches the track shape of the corresponding route in the planned surveying route, and if the surveying track shape of the current driving surveying route of the intelligent surveying device matches the track shape of the corresponding route in the planned surveying route, indicating that the current surveying route of the intelligent surveying device is not deviated, and continuing to control the intelligent surveying device to survey according to the current route; if the survey track shape of the current driven survey route of the intelligent survey equipment does not match the track shape of the corresponding route in the planned survey route, the survey route of the intelligent survey equipment needs to be adjusted according to the planned survey route, and the intelligent survey equipment is controlled to continue surveying according to the adjusted survey route.
The control method of the intelligent surveying equipment provided by the embodiment comprises the steps of monitoring the shape of a surveying track of a current driving surveying route of the intelligent surveying equipment; then judging whether the survey track shape of the current driven survey route of the intelligent survey equipment is matched with the track shape of the corresponding route in the planned survey route; and if the measured distance is matched with the measured distance, the intelligent surveying equipment is continuously controlled to survey according to the current route, otherwise, the surveying route of the intelligent surveying equipment is adjusted according to the planned surveying route, and the intelligent surveying equipment is controlled to continuously survey according to the adjusted surveying route, so that the intelligent surveying equipment is ensured to survey according to the received surveying route.
Further, referring to fig. 4, a third embodiment of the control method of the intelligent survey apparatus of the invention is proposed based on the first embodiment of the control method of the intelligent survey apparatus of the invention.
In this embodiment, the steps after step S10 further include:
step S110, monitoring the density of people and vehicles on roads which are not driven in the roads on which the survey route passes in real time;
and step S120, changing the running speed of the intelligent surveying equipment according to the detected personnel and vehicle density in the running process.
In this embodiment, in the process of automatic driving of the intelligent survey equipment according to the most surveyed route, the concentration of people and vehicles on non-driven roads in the roads passing by in the survey route can be monitored in real time, so that the conditions of pedestrians and vehicles on the roads ahead can be obtained, and the driving speed of the intelligent survey equipment can be adjusted and controlled. Specifically, the density of people and vehicles in the road can be known through the feedback of the roadside unit; in the running process of the intelligent surveying equipment, when the density of people or vehicles in a road is monitored, or the densities of the people and the vehicles are higher, the running speed of the intelligent surveying equipment can be properly reduced, wherein the conditions of the people and the vehicles on the road can be adopted according to the distance set by a user, for example, when the distance set by the user is 20 meters, the speed can be changed only according to the conditions of the density of the people and the vehicles on the road within 20 meters.
According to the control method of the intelligent surveying equipment provided by the embodiment, the density of people and vehicles on the roads which are not driven in the roads where the selected optimal driving route passes is monitored in real time; then, the driving speed of the intelligent surveying equipment can be changed according to the detected density of the people and the vehicles in the driving process, the intelligent surveying equipment is prevented from colliding in places where the people or the vehicles are dense, and the driving safety is improved.
Further, a fifth embodiment of the control method of the intelligent surveying equipment of the present invention is proposed based on the first embodiment of the control method of the intelligent surveying equipment of the present invention.
In this embodiment, the monitoring the road condition includes: air temperature, air humidity, air quality and soil texture of the road traversed during automatic driving according to the survey route are monitored.
In this embodiment, the monitoring of the road condition includes: the air temperature, the air humidity, the air quality and the soil texture of the road that pass through to the realization surveys the road more carefully, further, can regard the air temperature, the air humidity of the road that obtain of surveying as the reference of calculating the height, the width of testee, the distance of intelligent surveying equipment and testee and the radian of testee, in order to prevent to cause the error because air temperature and humidity are to the calculation.
As shown in fig. 5, the control device of the smart survey device may include: a processor 1001, such as a CPU, and a memory 1002. Connection communication between these components may be realized by a communication bus. The memory 1002 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). The memory 1002 may alternatively be a storage device separate from the processor 1001.
Optionally, the control device of the smart survey apparatus may further comprise a user interface, a network interface, a camera, RF (radio frequency) circuitry, sensors, audio circuitry, a WiFi module, and the like. The user interface may comprise a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface may also comprise a standard wired interface, a wireless interface. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface).
Those skilled in the art will appreciate that the control device configuration of the intelligent survey device shown in FIG. 5 does not constitute a limitation of the control device of the intelligent survey device, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 5, the memory 1002, which is a type of computer storage medium, may include an operating system and control programs for the intelligent survey apparatus. The operating system is a program for managing and controlling the control device = hardware and software resources of the intelligent survey device, and supports the running of the control program of the intelligent survey device and other software or programs.
In the control device of the intelligent survey apparatus shown in fig. 5, the processor 1001 may be configured to execute a control program of the intelligent survey apparatus stored in the memory 1002 to implement the steps of:
controlling the intelligent surveying equipment to automatically drive according to the received surveying route;
monitoring road conditions and capturing images of each survey node in the automatic driving process of the intelligent survey equipment;
calculating the height and width of the measured object in each survey node and the distance between the intelligent survey equipment and the measured object by receiving the emission and reflection time of the laser beam;
and calculating the radian of the measured object by combining the inclination angle of the intelligent surveying equipment according to the height and the width of the measured object and the distance between the intelligent surveying equipment and the measured object, and feeding back the image of the surveying node, the height and the width of the measured object, the distance between the intelligent surveying equipment and the measured object and the radian of the measured object to the user in real time.
Further, the processor 1001 may also execute a control program of the intelligent survey apparatus stored in the memory 1002 to implement the steps of:
recording a driving track according to the surveying route, and marking the recorded image of the surveying node, the radian of the measured object and the distance between the intelligent surveying equipment and the measured object in the driving track;
and generating a survey report according to the mark and the driving track, and pushing the survey report to a user.
Further, the processor 1001 may also execute a control program of the intelligent survey apparatus stored in the memory 1002 to implement the steps of:
monitoring a survey track shape of a current driven survey route of the intelligent survey device;
judging whether the survey track shape of the current driven survey route of the intelligent survey equipment is matched with the track shape of the corresponding route in the planned survey route;
and if the measured data is matched with the measured data, the intelligent surveying equipment is continuously controlled to survey according to the current route, otherwise, the surveying route of the intelligent surveying equipment is adjusted according to the planned surveying route, and the intelligent surveying equipment is controlled to continuously survey according to the adjusted surveying route.
Further, the processor 1001 may also execute a control program of the intelligent survey apparatus stored in the memory 1002 to implement the steps of:
monitoring the personnel and vehicle density of roads which are not driven in the roads passing by the survey route in real time;
and during the driving process, the driving speed of the intelligent surveying equipment is changed according to the detected personnel and vehicle density.
Further, the processor 1001 may also execute a control program of the intelligent survey apparatus stored in the memory 1002 to implement the steps of:
the monitoring of the road condition comprises: air temperature, air humidity, air quality and soil texture of the road traversed during automatic driving according to the survey route are monitored.
The specific embodiment of the control device of the intelligent survey equipment of the invention is basically the same as the various embodiments of the control method of the intelligent survey equipment, and the detailed description is omitted here.
The present invention provides a computer readable storage medium storing one or more programs, the one or more programs being executable by one or more processors to perform the steps of:
controlling the intelligent surveying equipment to automatically drive according to the received surveying route;
monitoring road conditions and capturing images of each survey node in the automatic driving process of the intelligent survey equipment;
calculating the height and width of the measured object in each survey node and the distance between the intelligent survey equipment and the measured object by receiving the emission and reflection time of the laser beam;
and calculating the radian of the measured object by combining the inclination angle of the intelligent surveying equipment according to the height and the width of the measured object and the distance between the intelligent surveying equipment and the measured object, and feeding back the image of the surveying node, the height and the width of the measured object, the distance between the intelligent surveying equipment and the measured object and the radian of the measured object to the user in real time.
Further, the one or more programs are executable by the one or more processors to also implement the steps of:
recording a driving track according to the surveying route, and marking the recorded image of the surveying node, the radian of the measured object and the distance between the intelligent surveying equipment and the measured object in the driving track;
and generating a survey report according to the mark and the driving track, and pushing the survey report to a user.
Further, the one or more programs are executable by the one or more processors to also implement the steps of:
monitoring a survey track shape of a current driven survey route of the intelligent survey device;
judging whether the survey track shape of the current driven survey route of the intelligent survey equipment is matched with the track shape of the corresponding route in the planned survey route;
and if the measured data is matched with the measured data, the intelligent surveying equipment is continuously controlled to survey according to the current route, otherwise, the surveying route of the intelligent surveying equipment is adjusted according to the planned surveying route, and the intelligent surveying equipment is controlled to continuously survey according to the adjusted surveying route.
Further, the one or more programs are executable by the one or more processors to also implement the steps of:
monitoring the personnel and vehicle density of roads which are not driven in the roads passing by the survey route in real time;
and during the driving process, the driving speed of the intelligent surveying equipment is changed according to the detected personnel and vehicle density.
Further, the one or more programs are executable by the one or more processors to also implement the steps of:
the monitoring of the road condition comprises: air temperature, air humidity, air quality and soil texture of the road traversed during automatic driving according to the survey route are monitored.
The specific embodiment of the computer readable storage medium of the present invention is substantially the same as the above-described control method for the intelligent survey device and the control device for the intelligent survey device, and will not be described herein again.
It should also be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (15)

  1. A method of controlling an intelligent survey apparatus, the method comprising the steps of:
    controlling the intelligent surveying equipment to automatically drive according to the received surveying route;
    monitoring road conditions and capturing images of each survey node in the automatic driving process of the intelligent survey equipment;
    calculating the height and width of the measured object in each survey node and the distance between the intelligent survey equipment and the measured object by receiving the emission and reflection time of the laser beam;
    and calculating the radian of the measured object by combining the inclination angle of the intelligent surveying equipment according to the height and the width of the measured object and the distance between the intelligent surveying equipment and the measured object, and feeding back the image of the surveying node, the height and the width of the measured object, the distance between the intelligent surveying equipment and the measured object and the radian of the measured object to the user in real time.
  2. The method for controlling an intelligent survey apparatus according to claim 1, wherein the step of feeding back the image of the survey node, the height and width of the object to be measured, the distance between the intelligent survey apparatus and the object to be measured, and the arc of the object to be measured to the user in real time further comprises:
    recording a driving track according to the surveying route, and marking the recorded image of the surveying node, the radian of the measured object and the distance between the intelligent surveying equipment and the measured object in the driving track;
    and generating a survey report according to the mark and the driving track, and pushing the survey report to a user.
  3. The method for controlling an intelligent survey apparatus according to claim 1, wherein the step of feeding back the image of the survey node, the height and width of the object to be measured, the distance between the intelligent survey apparatus and the object to be measured, and the arc of the object to be measured to the user in real time further comprises:
    monitoring a survey track shape of a current driven survey route of the intelligent survey device;
    judging whether the survey track shape of the current driven survey route of the intelligent survey equipment is matched with the track shape of the corresponding route in the planned survey route;
    and if the measured data is matched with the measured data, the intelligent surveying equipment is continuously controlled to survey according to the current route, otherwise, the surveying route of the intelligent surveying equipment is adjusted according to the planned surveying route, and the intelligent surveying equipment is controlled to continuously survey according to the adjusted surveying route.
  4. The method for controlling an intelligent survey apparatus according to claim 3, wherein the step of controlling the intelligent survey apparatus to autonomously drive according to the received survey route further comprises:
    monitoring the personnel and vehicle density of roads which are not driven in the roads passing by the survey route in real time;
    and during the driving process, the driving speed of the intelligent surveying equipment is changed according to the detected personnel and vehicle density.
  5. The method of controlling a smart survey apparatus as claimed in claim 1, wherein the monitoring the road conditions comprises: the temperature, humidity, air quality and soil texture of the road passing during automatic driving according to the survey route are monitored.
  6. The control device of the intelligent surveying equipment is characterized by comprising a processor and a memory, wherein the memory stores a control program of the intelligent surveying equipment; the processor is configured to execute a control program of the intelligent survey apparatus to perform the steps of:
    controlling the intelligent surveying equipment to automatically drive according to the received surveying route;
    monitoring road conditions and capturing images of each survey node in the automatic driving process of the intelligent survey equipment;
    calculating the height and width of the measured object in each survey node and the distance between the intelligent survey equipment and the measured object by receiving the emission and reflection time of the laser beam;
    and calculating the radian of the measured object by combining the inclination angle of the intelligent surveying equipment according to the height and the width of the measured object and the distance between the intelligent surveying equipment and the measured object, and feeding back the image of the surveying node, the height and the width of the measured object, the distance between the intelligent surveying equipment and the measured object and the radian of the measured object to the user in real time.
  7. The intelligent survey apparatus control device as claimed in claim 6, wherein the processor is further configured to execute the intelligent survey apparatus control program to perform the steps of:
    recording a driving track according to the surveying route, and marking the recorded image of the surveying node, the radian of the measured object and the distance between the intelligent surveying equipment and the measured object in the driving track;
    and generating a survey report according to the mark and the driving track, and pushing the survey report to a user.
  8. The intelligent survey apparatus control device as claimed in claim 6, wherein the processor is further configured to execute the intelligent survey apparatus control program to perform the steps of:
    monitoring a survey track shape of a current driven survey route of the intelligent survey device;
    judging whether the survey track shape of the current driven survey route of the intelligent survey equipment is matched with the track shape of the corresponding route in the planned survey route;
    and if the measured data is matched with the measured data, the intelligent surveying equipment is continuously controlled to survey according to the current route, otherwise, the surveying route of the intelligent surveying equipment is adjusted according to the planned surveying route, and the intelligent surveying equipment is controlled to continuously survey according to the adjusted surveying route.
  9. The intelligent survey apparatus control device as claimed in claim 6, wherein the processor is further configured to execute the intelligent survey apparatus control program to perform the steps of:
    monitoring the personnel and vehicle density of roads which are not driven in the roads passing by the survey route in real time;
    and during the driving process, the driving speed of the intelligent surveying equipment is changed according to the detected personnel and vehicle density.
  10. The intelligent survey apparatus control device as claimed in claim 6, wherein the processor is further configured to execute the intelligent survey apparatus control program to perform the steps of:
    the monitoring of the road condition comprises: air temperature, air humidity, air quality and soil texture of the road traversed during automatic driving according to the survey route are monitored.
  11. A computer-readable storage medium storing one or more programs, the one or more programs being executable by one or more processors for performing the steps of:
    controlling the intelligent surveying equipment to automatically drive according to the received surveying route;
    monitoring road conditions and capturing images of each survey node in the automatic driving process of the intelligent survey equipment;
    calculating the height and width of the measured object in each survey node and the distance between the intelligent survey equipment and the measured object by receiving the emission and reflection time of the laser beam;
    and calculating the radian of the measured object by combining the inclination angle of the intelligent surveying equipment according to the height and the width of the measured object and the distance between the intelligent surveying equipment and the measured object, and feeding back the image of the surveying node, the height and the width of the measured object, the distance between the intelligent surveying equipment and the measured object and the radian of the measured object to the user in real time.
  12. The computer-readable storage medium recited in claim 11, wherein the one or more programs, executable by the one or more processors, further implement the steps of:
    recording a driving track according to the surveying route, and marking the recorded image of the surveying node, the radian of the measured object and the distance between the intelligent surveying equipment and the measured object in the driving track;
    and generating a survey report according to the mark and the driving track, and pushing the survey report to a user.
  13. The computer-readable storage medium recited in claim 11, wherein the one or more programs, executable by the one or more processors, further implement the steps of:
    monitoring a survey track shape of a current driven survey route of the intelligent survey device;
    judging whether the survey track shape of the current driven survey route of the intelligent survey equipment is matched with the track shape of the corresponding route in the planned survey route;
    and if the measured data is matched with the measured data, the intelligent surveying equipment is continuously controlled to survey according to the current route, otherwise, the surveying route of the intelligent surveying equipment is adjusted according to the planned surveying route, and the intelligent surveying equipment is controlled to continuously survey according to the adjusted surveying route.
  14. The computer-readable storage medium recited in claim 11, wherein the one or more programs, executable by the one or more processors, further implement the steps of:
    monitoring the personnel and vehicle density of roads which are not driven in the roads passing by the survey route in real time;
    and during the driving process, the driving speed of the intelligent surveying equipment is changed according to the detected personnel and vehicle density.
  15. The computer-readable storage medium recited in claim 11, wherein the one or more programs, executable by the one or more processors, further implement the steps of:
    the monitoring of the road condition comprises: air temperature, air humidity, air quality and soil texture of the road traversed during automatic driving according to the survey route are monitored.
CN201780085424.4A 2017-05-03 2017-05-03 Control method, equipment and the storage medium of intelligent surveying device Pending CN110268355A (en)

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