CN111062540B - Method, device, equipment and storage medium for inspecting layout of reflecting plate - Google Patents
Method, device, equipment and storage medium for inspecting layout of reflecting plate Download PDFInfo
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Abstract
The invention provides a reflector layout checking method, a device, equipment and a storage medium, wherein a reflector layout scheme to be checked is input, and the reflector layout scheme comprises layout information of a reflector; for any path point on a preset running path, according to the layout information of the reflector, the preset path point information and the preset performance information of the navigation positioning sensor, obtaining the predicted navigation positioning information of the navigation positioning sensor at the path point; and checking whether the reflector layout scheme is qualified or not according to the predicted navigation positioning information and the preset path point information of the path point, and outputting a checking result. The method has the advantages that the reflector layout inspection is carried out in a simulation mode, a large number of test inspection works before the reflector layout construction are reduced, the reflector layout inspection flow is simplified, the rapid and convenient inspection is realized, the experience technical level threshold of operators is reduced, the cost is reduced, and the reflector layout efficiency in practical engineering application is improved.
Description
Technical Field
The present invention relates to the field of positioning and navigation technologies, and in particular, to a method, an apparatus, a device, and a storage medium for inspecting a layout of a reflector.
Background
Along with the development of artificial intelligence, intelligent unmanned factories, unmanned warehouse, unmanned workshops and the like have gradually been widely used, wherein key intelligent equipment is certainly an autonomous transfer robot, and the intelligent transfer robot can realize real-time positioning according to a sensor carried by the intelligent transfer robot in a set area and automatically move to a target position.
At present, the positioning method based on the identification of the reflector is an autonomous transfer robot positioning method, a plurality of positioning marks (such as the reflector) arranged in the moving range of the autonomous transfer robot are identified by a navigation positioning sensor such as a laser radar to determine the coordinate positions of the positioning marks, and the positioning method based on the identification of the reflector is widely used because of the advantages of high precision, good stability and the like. In order to ensure the stability and high precision of positioning, the reflector needs to be reasonably arranged, for example, enough reflectors can be identified at each position of the robot, the arrangement of the reflectors needs to avoid symmetrical or congruent shapes as much as possible, and the like, when the reflectors are arranged in actual engineering construction, the reflectors are mostly fixed on the surfaces of objects such as walls and shelves in a pasting or bracket mounting mode, if the arrangement is unreasonable for the first time, the reflectors are difficult to modify, and the probability of unreasonable arrangement along with the increase of the area is greatly increased.
Aiming at the problems, in order to improve the arrangement rationality of the reflector, a great deal of manpower and material resources are required to be consumed for repeated testing, but the workload is heavy and the time is long; or the number of reflectors is increased, but the cost is increased, and the adaptability of the scene is reduced. In addition, there is a high demand for the level of experience of the personnel arranging the reflectors.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a storage medium for inspecting the layout of a reflector, which are used for reducing a large amount of test and inspection work before the arrangement and construction of the reflector, reducing the experience technical level threshold of operators, lowering the cost and improving the arrangement efficiency of the reflector.
A first aspect of an embodiment of the present invention provides a method for inspecting a layout of a reflector, including:
inputting a reflector layout scheme to be checked, wherein the reflector layout scheme comprises layout information of a reflector;
for any path point on a preset running path, according to the layout information of the reflector, the preset path point information and the preset performance information of the navigation positioning sensor, obtaining the predicted navigation positioning information of the navigation positioning sensor at the path point;
And checking whether the reflector layout scheme is qualified or not and/or checking the rationality of the preset running path according to the predicted navigation positioning information and the preset path point information of the path point, and outputting a checking result.
In one possible design, the obtaining the predicted navigation positioning information of the navigation positioning sensor at the path point according to the layout information of the reflector, the preset path point information and the preset performance information of the navigation positioning sensor includes:
acquiring a target reflector which can be detected by the navigation positioning sensor at the path point according to the layout information of the reflector, the preset path point information and the preset performance information of the navigation positioning sensor;
and predicting predicted navigation positioning information of the navigation positioning sensor at the path point according to the layout information of the target reflector and the preset performance information of the navigation positioning sensor.
In one possible design, the obtaining the target reflector that can be detected by the navigation positioning sensor at the path point according to the layout information of the reflector, the preset path point information, and the preset performance information of the navigation positioning sensor includes:
Acquiring a first group of reflectors falling within the detection distance range of the navigation positioning sensor when the navigation positioning sensor is positioned at the path point according to the layout information of the reflectors, the preset path point information and the preset performance information of the navigation positioning sensor;
deleting the reflecting plates which are blocked between the first group of reflecting plates and the navigation positioning sensor according to the layout information of the first group of reflecting plates and the detection precision of the navigation positioning sensor to obtain a second group of reflecting plates;
and screening a preset number of reflecting plates uniformly distributed around the path point from the second group of reflecting plates to serve as the target reflecting plates according to the layout information of the second group of reflecting plates and the preset path point information.
In one possible design, the checking whether the reflector layout scheme is qualified according to the predicted navigation positioning information and the preset path point information of the path point includes:
acquiring position distance deviation and/or direction angle deviation between a predicted navigation positioning position and a path point according to the predicted navigation positioning information and preset path point information of the path point;
If the position distance deviation and/or the direction angle deviation exceed the preset threshold value, determining that the layout of the target reflector is unqualified;
and if the position distance deviation and/or the direction angle deviation do not exceed the preset threshold value, determining that the layout of the target reflector is qualified.
In one possible design, the outputting the inspection results includes:
if the layout of the target reflector is determined to be unqualified, outputting at least one of preset path point information of the path point, layout information of the target reflector and predicted navigation positioning information and/or outputting prompt information for changing the path or changing the layout of the reflector, and displaying the prompt information on a display unit;
and outputting the reflector layout scheme and/or the preset running path if the layout of the target reflectors of all the path points is qualified.
In one possible design, the method further includes, before obtaining the predicted navigation positioning information of the navigation positioning sensor at the waypoint according to the layout information of the reflector, the preset waypoint information, and the preset performance information of the navigation positioning sensor:
acquiring the preset path point information and the preset performance information of the navigation positioning sensor;
The preset path point information comprises position coordinates and direction angles of the path points, and the preset performance information of the navigation positioning sensor comprises a detection distance range and detection precision.
In one possible design, the obtaining the preset waypoint information includes:
acquiring path information of a running path;
discretizing the running path into path points, and acquiring the preset path point information of each path point according to the path information.
In one possible design, the reflector layout scheme further includes preset environmental layout information including shape and/or position coordinates of environmental obstacles.
In one possible design, the reflector layout to be inspected is a reflector layout on a two-dimensional plane or a reflector layout in a three-dimensional space.
A second aspect of an embodiment of the present invention provides a reflective board layout inspection apparatus, including:
the input module is used for inputting a reflector layout scheme to be checked, wherein the reflector layout scheme comprises layout information of the reflector;
the inspection module is used for acquiring predicted navigation positioning information of the navigation positioning sensor at any path point on a preset running path according to layout information of the reflector, preset path point information and preset performance information of the navigation positioning sensor; checking whether the reflector layout scheme is qualified or not and/or checking the rationality of the preset running path according to the predicted navigation positioning information and the preset path point information of the path point;
And the output module is used for outputting the checking result.
In one possible design, the inspection module is configured to, when acquiring predicted navigation positioning information of the navigation positioning sensor at the waypoint according to layout information of the reflector, preset waypoint information, and preset performance information of the navigation positioning sensor:
acquiring a target reflector which can be detected by the navigation positioning sensor at the path point according to the layout information of the reflector, the preset path point information and the preset performance information of the navigation positioning sensor;
and predicting predicted navigation positioning information of the navigation positioning sensor at the path point according to the layout information of the target reflector and the preset performance information of the navigation positioning sensor.
In one possible design, the inspection module is configured to, when acquiring the target reflector that can be detected by the navigation positioning sensor at the waypoint according to the layout information of the reflector, the preset waypoint information, and the preset performance information of the navigation positioning sensor:
acquiring a first group of reflectors falling within the detection distance range of the navigation positioning sensor when the navigation positioning sensor is positioned at the path point according to the layout information of the reflectors, the preset path point information and the preset performance information of the navigation positioning sensor;
Deleting the reflecting plates which are blocked between the first group of reflecting plates and the navigation positioning sensor according to the layout information of the first group of reflecting plates and the detection precision of the navigation positioning sensor to obtain a second group of reflecting plates;
and screening a preset number of reflecting plates uniformly distributed around the path point from the second group of reflecting plates to serve as the target reflecting plates according to the layout information of the second group of reflecting plates and the preset path point information.
In one possible design, the inspection module is configured to, when inspecting whether the reflector layout scheme is qualified according to the predicted navigation positioning information and the preset waypoint information of the waypoint:
acquiring position distance deviation and/or direction angle deviation between a predicted navigation positioning position and a path point according to the predicted navigation positioning information and preset path point information of the path point;
if the position distance deviation and/or the direction angle deviation exceed the preset threshold value, determining that the layout of the target reflector is unqualified;
and if the position distance deviation and/or the direction angle deviation do not exceed the preset threshold value, determining that the layout of the target reflector is qualified.
In one possible design, the output module is configured to:
if the layout of the target reflector is determined to be unqualified, outputting at least one of preset path point information of the path point, layout information of the target reflector and predicted navigation positioning information and/or outputting prompt information for changing the path or changing the layout of the reflector, and displaying the prompt information on a display unit;
and outputting the reflector layout scheme and/or the preset running path if the layout of the target reflectors of all the path points is qualified.
In one possible design, the input module is further configured to:
acquiring the preset path point information and the preset performance information of the navigation positioning sensor;
the preset path point information comprises position coordinates and direction angles of the path points, and the preset performance information of the navigation positioning sensor comprises a detection distance range and detection precision.
In one possible design, the input module is configured to, when acquiring the preset waypoint information:
acquiring path information of a running path;
discretizing the running path into path points, and acquiring the preset path point information of each path point according to the path information.
In one possible design, the reflector layout scheme further includes preset environmental layout information including shape and/or position coordinates of environmental obstacles.
In one possible design, the reflector layout to be inspected is a reflector layout on a two-dimensional plane or a reflector layout in a three-dimensional space.
A third aspect of an embodiment of the present invention provides a reflective panel layout inspection apparatus, including:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method according to the first aspect.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium having a computer program stored thereon;
the computer program, when executed by a processor, implements the method as described in the first aspect.
The method, the device, the equipment and the storage medium for inspecting the reflector layout provided by the embodiment of the invention are characterized in that the reflector layout scheme to be inspected is input, and the reflector layout scheme comprises the layout information of the reflector; for any path point on a preset running path, according to the layout information of the reflector, the preset path point information and the preset performance information of the navigation positioning sensor, obtaining the predicted navigation positioning information of the navigation positioning sensor at the path point; and checking whether the reflector layout scheme is qualified or not and/or checking the rationality of the preset running path according to the predicted navigation positioning information and the preset path point information of the path point, and outputting a checking result. According to the embodiment of the invention, the layout inspection of the reflecting plate is performed in an analog mode, so that a large number of test inspection works before the layout construction of the reflecting plate are reduced, the layout inspection flow of the reflecting plate is simplified, the rapid and convenient inspection is realized, the experience technical level threshold of operators is reduced, the cost is reduced, and the layout efficiency of the reflecting plate in practical engineering application is improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a flowchart of a method for inspecting a layout of a reflector according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for inspecting a layout of a reflector according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of an application scenario of a method for inspecting a layout of a reflector according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a method for inspecting a layout of a reflector according to another embodiment of the present invention;
FIG. 5 is a schematic diagram of a layout inspection apparatus for a reflector according to an embodiment of the present invention;
fig. 6 is a block diagram of a reflector layout inspection apparatus according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a flowchart of a method for inspecting a layout of a reflector according to an embodiment of the invention. The present embodiment provides a method for inspecting a layout of a reflector, in which an execution subject is a system for inspecting a layout of a reflector, and in particular, the system for inspecting a layout of a reflector may be configured on a server, a personal computer, or other terminal devices. The method for inspecting the layout of the reflector provided by the embodiment comprises the following specific steps:
s101, inputting a reflector layout scheme to be checked, wherein the reflector layout scheme comprises layout information of the reflectors.
In this embodiment, for a specific factory warehouse or workshop, a layout scheme of the reflector to be inspected may be obtained first, where the layout scheme of the reflector may be a preconfigured layout file of the reflector, and the layout file of the reflector may be a document file for recording layout information of the reflector, or may be a drawing file marked with the layout information of the reflector, or may be other types of files, and the layout information of the reflector may include, but is not limited to, a serial number, a shape, a diameter, a relative position coordinate of the reflector, and the like. The reflector layout scheme to be inspected is a reflector layout scheme on a two-dimensional plane or a reflector layout scheme in a three-dimensional space, that is, the reflector layout inspection method in the embodiment can inspect the reflector layout scheme on the two-dimensional plane or the reflector layout scheme in the three-dimensional space.
In addition, the reflector layout scheme can be temporarily configured and modified, for example, layout information of each reflector is marked on a plan view or a three-dimensional view of a factory warehouse in sequence.
S102, for any path point on a preset running path, according to layout information of the reflecting plate, preset path point information and preset performance information of the navigation positioning sensor, obtaining predicted navigation positioning information of the navigation positioning sensor at the path point.
In this embodiment, for a determined factory warehouse or workshop, the environment layout, the running path of the autonomous transfer robot, and the performance information of the navigation positioning sensor of the autonomous transfer robot are all determined, and the above information may be input into the reflector layout inspection system in advance, so when the reflector layout scheme is inspected, whether the autonomous transfer robot can accurately obtain the navigation positioning information only from the reflector at each path point can be predicted according to the layout information, the preset path point information, and the preset performance information of the navigation positioning sensor, that is, the predicted navigation positioning information of the navigation positioning sensor at the path point is firstly obtained, so that whether the reflector layout scheme is qualified or not can be conveniently judged according to the predicted navigation positioning information and the preset path point information of the path point.
It should be noted that, in this embodiment, the preset path point information and the preset performance information of the navigation positioning sensor may be obtained in advance, and the information may be in a file format, and may be imported to the reflector layout inspection system, or the information may be directly set in the reflector layout inspection system. Wherein the preset waypoint information can include, but is not limited to, position coordinates and direction angles of the waypoints, the preset performance information of the navigation positioning sensor can include, but is not limited to, a detection distance range and detection precision, the preset performance information of the navigation positioning sensor can also include a positioning algorithm and the like.
S103, checking whether the reflector layout scheme is qualified or not and/or checking the rationality of the preset running path according to the predicted navigation positioning information and the preset path point information of the path point, and outputting a checking result.
In this embodiment, after obtaining the predicted navigation positioning information at a certain waypoint, the predicted navigation positioning information may be compared with the preset waypoint information of the waypoint, so as to obtain a distance deviation and/or an azimuth deviation, and if the deviation is larger, it is determined that one or more reflection boards around the waypoint are disqualified in layout; it is of course also possible to check whether the preset travel path is reasonable.
Further, if the layout of the reflector is determined to be unqualified or the preset running path is determined to be unqualified, unqualified information can be displayed in a specific prompt area of the display unit; if the reflector layout is qualified, the reflector layout information can be derived, and if the preset running path is reasonable, the preset running path can be derived.
According to the reflector layout checking method provided by the embodiment, the reflector layout scheme to be checked is input, and the reflector layout scheme comprises the layout information of the reflectors; for any path point on a preset running path, according to the layout information of the reflector, the preset path point information and the preset performance information of the navigation positioning sensor, obtaining the predicted navigation positioning information of the navigation positioning sensor at the path point; and checking whether the reflector layout scheme is qualified or not and/or checking the rationality of the preset running path according to the predicted navigation positioning information and the preset path point information of the path point, and outputting a checking result. In the embodiment, the layout inspection of the reflecting plate is performed in an analog mode, so that a large number of test inspection works before the layout construction of the reflecting plate are reduced, the layout inspection flow of the reflecting plate is simplified, the rapid and convenient inspection is realized, the experience technical level threshold of operators is reduced, the cost is reduced, and the layout efficiency of the reflecting plate in practical engineering application is improved.
Fig. 2 is a flowchart of a method for inspecting a layout of a reflector according to an embodiment of the invention. On the basis of the above embodiment, the method for inspecting the layout of the reflector provided in this embodiment specifically includes the following steps:
s201, acquiring the preset path point information and the preset performance information of the navigation positioning sensor;
the preset path point information comprises, but is not limited to, position coordinates and direction angles of the path points, the preset performance information of the navigation positioning sensor comprises, but is not limited to, a detection distance range and detection precision, and the preset performance information of the navigation positioning sensor can also comprise a positioning algorithm and the like.
In this embodiment, a plane drawing of a factory warehouse, for example, CAD drawing 3-1 in fig. 3, may be imported to the reflector layout inspection system, and preset environmental layout information, such as the shape and position coordinates (end coordinates) of obstacles such as shelves, walls, columns, etc., may be acquired from the plane drawing. Further, the preset environmental layout information may be displayed on the display unit, for example, the above-described planar drawing labeled with the shape and position coordinates of the obstacle may be displayed on the display unit. Of course, if the layout information of the reflector already includes the position coordinates of the reflector relative to the environment layout, or the layout information of the reflector originally includes the plane drawing of the factory warehouse, the layout information of the reflector can be directly displayed, the plane drawing of the factory warehouse can be not independently imported, and the preset environment layout information is not required to be acquired. In another alternative embodiment, the reflector layout scheme may include layout information of the reflector and preset environmental layout information, which may include, but is not limited to, shape and/or position coordinates of the environmental obstacle.
In addition, the preset path point information on the preset running path can be obtained, more specifically, the path information of the running path can be obtained first, such as the path information 3-2 in fig. 3, the path information can be imported through a file, and the running path can be set on a plane drawing of a factory warehouse, so that the path information is obtained; further, discretizing the running path into path points, and acquiring the preset path point information of each path point according to the path information. For example, a route point is acquired at each interval Δl on the travel route, and the position coordinates and the direction angle corresponding to the route point are acquired from the route information as route point information. Wherein DeltaL can take a value according to actual needs, and the preferred DeltaL can be 1cm.
In addition, the preset performance information of the navigation positioning sensor can be obtained, the navigation positioning sensor can be a laser radar, the performance information can comprise the detection distance range and the detection precision of the reflecting plate, and the navigation positioning sensor can be imported through files and can also be directly arranged in a reflecting plate layout checking system.
S202, inputting a reflector layout scheme to be checked, wherein the reflector layout scheme comprises layout information of the reflectors.
In this embodiment, the reflector layout scheme may be a preconfigured reflector layout file, where the reflector layout file may be a document file for recording layout information of the reflector, a drawing file marked with layout information of the reflector, or other types of files. In addition, the reflectors can also be directly arranged on the plane drawing of the factory warehouse, and the layout information of each reflector can be marked, such as reflectors 3-3 to 3-8 in fig. 3. The layout information of the reflector may include, but is not limited to, a reflector number, a shape, a diameter, a position coordinate, and the like. Note that, in this embodiment, the execution sequence of S201 and S202 may not be limited.
Alternatively, in this embodiment, the layout information of the reflector may be displayed in the display unit, and the path information of the running path may be displayed in the display unit, so as to be convenient for viewing.
Further, after the reflector layout scheme is obtained, whether the reflectors overlap with the obstacles in the environment can be judged first, if so, the overlapping reflectors are unqualified in layout, and the reflectors can be reset so as not to overlap with the obstacles.
S203, acquiring a target reflector which can be detected by the navigation positioning sensor at the path point according to the layout information of the reflector, the preset path point information and the preset performance information of the navigation positioning sensor.
In this embodiment, each of the path points may be traversed sequentially from the start path point, and for any one of the path points, the target reflector that can be detected by the navigation positioning sensor at that path point may be determined according to the above-described various information. In addition, the current position of the navigation positioning sensor may be displayed on the display unit, as in CAD drawing 3-1 in fig. 3, and the navigation positioning sensor 3-9 is displayed so as to view the inspection progress.
More specifically, as shown in fig. 4, S203 may include the steps of:
s2031, acquiring a first group of reflectors falling within the detection distance range of the navigation positioning sensor when the navigation positioning sensor is located at the path point according to the layout information of the reflectors, the preset path point information and the preset performance information of the navigation positioning sensor.
In this embodiment, a region may be defined by using a path point as a center and a detection distance of a navigation positioning sensor as a radius, and all reflectors falling within the region may be determined as a first group of reflectors according to layout information of the reflectors, where the number of reflectors is m 1 . It should be noted that the first group of reflectors may include a reflector with a shielding, that is, a barrier shielding exists between the reflector and the navigation positioning sensor.
S2032, deleting the reflecting plates which are blocked between the first group of reflecting plates and the navigation positioning sensor according to the layout information of the first group of reflecting plates and the detection precision of the navigation positioning sensor, so as to obtain a second group of reflecting plates.
In this embodiment, the above-mentioned reflective plates with shielding are selected from the first group of reflective plates, and deleted, thereby obtaining a second group of reflective plates, the number of which is m 2 And m is 1 ≥m 2 . Specifically, the edge of any one of the first group of reflectors can be connected with the path point to judge the connectionWhether an obstacle exists between the lines or not, or the edge of the obstacle around the path point is connected with the path point, and whether a reflector exists between the connecting lines or not is judged, and the obstacle is located between the reflector and the path point. According to the method, all the reflectors which can be detected by the navigation positioning sensor at the path point can be obtained, wherein no shielding reflector exists.
S2033, screening a preset number of reflecting plates uniformly distributed around the path point from the second group of reflecting plates according to the layout information of the second group of reflecting plates and the preset path point information, and taking the reflecting plates as the target reflecting plates.
In this embodiment, since some reflective plates uniformly distributed around the reflective plates are selected from among the reflective plates when the navigation positioning sensor detects a plurality of reflective plates for navigation positioning, a predetermined number of reflective plates uniformly distributed around the path point need to be selected from the second group of reflective plates to obtain the target reflective plate, where the number is m 3 Wherein m is 2 ≥m 3 More than or equal to 3, namely at least 3 target reflectors. In this embodiment, each light reflecting plate in the second group of light reflecting plates can be connected with the path point, and the light reflecting plates which are uniformly distributed can be screened according to the preset number and the included angles of the connecting lines, for example, the preset number is 3, and then the light reflecting plates corresponding to the connecting lines with the three included angles close to 120 degrees can be screened out as the target light reflecting plates.
It should be noted that, in order to simulate the situation that the real navigation positioning sensor detects the reflecting plate, the detection accuracy of the navigation positioning sensor can be considered in the above process.
S204, predicting predicted navigation positioning information of the navigation positioning sensor at the path point according to the layout information of the target reflector and the preset performance information of the navigation positioning sensor.
In this embodiment, after the target reflector is obtained, the real reflector is detected by the navigation positioning sensor to perform navigation positioning according to the layout information of the target reflector and the detection precision of the navigation positioning sensor, so as to predict the predicted navigation positioning information of the navigation positioning sensor at the path point. Specifically, the method can simulate the laser radar to send detection signals to the target reflector, receive echo signals reflected by the target reflector, judge the information such as distance, azimuth angle and the like by combining with detection precision, and further determine the predicted navigation positioning information of the path point.
It should be noted that, in order to simulate the situation that the real navigation positioning sensor detects the reflecting plate, the detection accuracy of the navigation positioning sensor can be considered in the above process.
S205, according to the predicted navigation positioning information and the preset path point information of the path point, acquiring the position distance deviation and/or the direction angle deviation between the predicted navigation positioning position and the path point.
In this embodiment, after the predicted navigation positioning information of the waypoint is obtained, a position distance deviation Δd and/or a direction angle deviation Δθ between the predicted navigation positioning position p' and the real position p of the waypoint may be obtained, where Δd and Δθ may take absolute values.
S206, if the position distance deviation and/or the direction angle deviation exceed the preset threshold, determining that the layout of the target reflector is unqualified.
In the present embodiment, the position distance deviation Δd and/or the direction angle deviation Δθ are compared with a predetermined threshold value, and if the absolute value of the position distance deviation Δd is greater than the position deviation threshold value T D And/or the absolute value of the direction angle deviation delta theta is greater than the direction angle deviation threshold value T θ And determining that the layout of the target reflector is unqualified. Preferred T D 2cm, T θ Is 0.2 deg..
Because the target reflector is selected from the second group of reflectors and has certain randomness, the process can be repeatedly executed for checking the layout of all reflectors, namely, each path point can be traversed for multiple times; of course, a plurality of possible screening schemes for the target reflector may be selected in S2033, and the processes of S204-S206 may be performed for each possible screening scheme.
S207, if the layout of the target reflector is determined to be disqualified, outputting at least one of preset path point information of the path point, layout information of the target reflector and predicted navigation positioning information and/or outputting prompt information for changing the path or changing the layout of the reflector, and displaying the prompt information on a display unit.
In this embodiment, if it is determined that the layout of the target reflector is not acceptable, at least one of the preset route point information of the route point, the layout information of the target reflector, and the predicted navigation positioning information may be displayed on the display unit, or in addition, a prompt message for changing the route or changing the layout of the reflector may be output and displayed on the display unit, and specifically, may be displayed in a prompt area of the display unit that is remembered.
Further, if a certain path point is determined to be qualified in the layout of the target reflector after the inspection, the inspection of the next path point can be performed. After each path point is inspected, if all the path points are qualified, the layout information of the reflecting plate can be exported and used for arranging the reflecting plate in actual engineering construction.
In addition, if the layout of the target reflector is determined to be unqualified, the layout information of the target reflector can be adjusted, and then the steps of the embodiment are re-executed until a qualified reflector layout scheme is obtained.
According to the reflector layout checking method provided by the embodiment, the reflector layout scheme to be checked is input, and the reflector layout scheme comprises the layout information of the reflectors; for any path point on a preset running path, according to the layout information of the reflector, the preset path point information and the preset performance information of the navigation positioning sensor, obtaining the predicted navigation positioning information of the navigation positioning sensor at the path point; and checking whether the reflector layout scheme is qualified or not and/or checking the rationality of the preset running path according to the predicted navigation positioning information and the preset path point information of the path point, and outputting a checking result. In the embodiment, the layout inspection of the reflecting plate is performed in an analog mode, so that a large number of test inspection works before the layout construction of the reflecting plate are reduced, the layout inspection flow of the reflecting plate is simplified, the rapid and convenient inspection is realized, the experience technical level threshold of operators is reduced, the cost is reduced, and the layout efficiency of the reflecting plate in practical engineering application is improved; in addition, modeling can be simply and rapidly realized through information import, information setting and other modes, and theoretical accuracy of layout is ensured while the information coordinate systems are unified.
Fig. 5 is a block diagram of a reflector layout inspection apparatus according to an embodiment of the present invention. The reflector layout inspection apparatus provided in this embodiment may execute the processing flow provided in the reflector layout inspection method embodiment, as shown in fig. 5, where the reflector layout inspection apparatus 400 includes an input module 401, an inspection module 402, and an output module 403.
An input module 401, configured to input a reflector layout scheme to be inspected, where the reflector layout scheme includes layout information of a reflector;
the inspection module 402 is configured to obtain, for any one of the path points on the preset running path, predicted navigation positioning information of the navigation positioning sensor at the path point according to layout information of the reflector, preset path point information, and preset performance information of the navigation positioning sensor; checking whether the reflector layout scheme is qualified or not and/or checking the rationality of the preset running path according to the predicted navigation positioning information and the preset path point information of the path point;
and an output module 403, configured to output the inspection result.
On the basis of any of the above embodiments, the inspection module 402 is configured to, when acquiring predicted navigation positioning information of the navigation positioning sensor at the waypoint according to layout information of the reflector, preset waypoint information, and preset performance information of the navigation positioning sensor:
Acquiring a target reflector which can be detected by the navigation positioning sensor at the path point according to the layout information of the reflector, the preset path point information and the preset performance information of the navigation positioning sensor;
and predicting predicted navigation positioning information of the navigation positioning sensor at the path point according to the layout information of the target reflector and the preset performance information of the navigation positioning sensor.
On the basis of any of the above embodiments, when the inspection module 402 obtains the target reflector that can be detected by the navigation positioning sensor at the waypoint according to the layout information of the reflector, the preset waypoint information, and the preset performance information of the navigation positioning sensor, the inspection module is configured to:
acquiring a first group of reflectors falling within the detection distance range of the navigation positioning sensor when the navigation positioning sensor is positioned at the path point according to the layout information of the reflectors, the preset path point information and the preset performance information of the navigation positioning sensor;
deleting the reflecting plates which are blocked between the first group of reflecting plates and the navigation positioning sensor according to the layout information of the first group of reflecting plates and the detection precision of the navigation positioning sensor to obtain a second group of reflecting plates;
And screening a preset number of reflecting plates uniformly distributed around the path point from the second group of reflecting plates to serve as the target reflecting plates according to the layout information of the second group of reflecting plates and the preset path point information.
Alternatively, the process of obtaining the target reflector may be implemented by the reflector identification submodule 4021 of the inspection module 402.
On the basis of any of the foregoing embodiments, the inspection module 402 is configured to, when inspecting whether the reflector layout scheme is qualified and/or inspecting the rationality of the preset running path according to the predicted navigation positioning information and the preset waypoint information of the waypoint:
acquiring position distance deviation and/or direction angle deviation between a predicted navigation positioning position and a path point according to the predicted navigation positioning information and preset path point information of the path point;
if the position distance deviation and/or the direction angle deviation exceed the preset threshold value, determining that the layout of the target reflector is unqualified;
and if the position distance deviation and/or the direction angle deviation do not exceed the preset threshold value, determining that the layout of the target reflector is qualified.
Alternatively, the above-described process of determining whether the layout of the target reflector is acceptable may be implemented by the layout determining submodule 4022 of the inspection module 402.
On the basis of any one of the above embodiments, the output module 403 is configured to:
if the layout of the target reflector is determined to be unqualified, outputting at least one of preset path point information of the path point, layout information of the target reflector and predicted navigation positioning information and/or outputting prompt information for changing the path or changing the layout of the reflector, and displaying the prompt information on a display unit;
and outputting the reflector layout scheme and/or the preset running path if the layout of the target reflectors of all the path points is qualified.
On the basis of any of the above embodiments, the input module 401 is further configured to:
acquiring the preset path point information and the preset performance information of the navigation positioning sensor;
the preset path point information comprises position coordinates and direction angles of the path points, and the preset performance information of the navigation positioning sensor comprises a detection distance range and detection precision.
On the basis of any of the foregoing embodiments, when the input module 401 obtains the preset waypoint information, the input module is configured to:
acquiring path information of a running path;
discretizing the running path into path points, and acquiring the preset path point information of each path point according to the path information.
Further, the input module 401 may be divided into a file import submodule 4011 and a setting submodule 4012 according to different input modes.
Further, the apparatus 400 may further include a display module 404, where the display module 404 may include a layout display sub-module 4041 and a result display sub-module 4042; the layout display sub-module 4041 is configured to display the layout information of the reflector in the display unit, or display the path information of the running path in the display unit, so as to facilitate viewing; the result display sub-module 4042 is used to display the price difference result on the display unit.
On the basis of any one of the above embodiments, the reflector layout scheme further includes preset environmental layout information, where the preset environmental layout information includes a shape and/or position coordinates of the environmental obstacle.
On the basis of any one of the above embodiments, the reflector layout scheme to be inspected is a reflector layout scheme on a two-dimensional plane or a reflector layout scheme in a three-dimensional space.
The inspection device for the layout of the reflector provided in the embodiment of the present invention may be specifically used to execute the method embodiments provided in fig. 1, fig. 2, and fig. 4, and specific functions are not repeated here.
According to the reflector layout inspection device provided by the embodiment of the invention, the reflector layout scheme to be inspected is input, and the reflector layout scheme comprises the layout information of the reflectors; for any path point on a preset running path, according to the layout information of the reflector, the preset path point information and the preset performance information of the navigation positioning sensor, obtaining the predicted navigation positioning information of the navigation positioning sensor at the path point; and checking whether the reflector layout scheme is qualified or not and/or checking the rationality of the preset running path according to the predicted navigation positioning information and the preset path point information of the path point, and outputting a checking result. In the embodiment, the layout inspection of the reflecting plate is performed in an analog mode, so that a large number of test inspection works before the layout construction of the reflecting plate are reduced, the layout inspection flow of the reflecting plate is simplified, the rapid and convenient inspection is realized, the experience technical level threshold of operators is reduced, the cost is reduced, and the layout efficiency of the reflecting plate in practical engineering application is improved.
Fig. 6 is a schematic structural diagram of a reflector layout inspection apparatus according to an embodiment of the present invention. The reflector layout inspection apparatus according to the embodiment of the present invention may execute the processing flow provided by the reflector layout inspection method embodiment, as shown in fig. 6, the reflector layout inspection apparatus 500 includes a memory 501, a processor 502, a computer program and a communication interface 503; wherein a computer program is stored in the memory 501 and configured to be executed by the processor 502 for the reflector layout inspection method described in the above embodiments. Of course, the reflector layout inspection apparatus may further include a navigation positioning sensor, etc., which will not be described in detail herein.
The reflector layout inspection apparatus of the embodiment shown in fig. 6 may be used to implement the technical solution of the above method embodiment, and its implementation principle and technical effects are similar, and will not be described herein again.
In addition, the present embodiment also provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor to implement the reflector layout inspection method described in the above embodiment.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform part of the steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working process of the above-described device may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (11)
1. A method for inspecting a layout of a reflector, the method being applied to a layout inspection system of a reflector, the method comprising:
inputting a reflector layout scheme to be checked, wherein the reflector layout scheme comprises layout information of a reflector;
for any path point on a preset running path, according to the layout information of the reflector, the preset path point information and the preset performance information of the navigation positioning sensor, obtaining the predicted navigation positioning information of the navigation positioning sensor at the path point;
checking whether the reflector layout scheme is qualified or not and/or checking the rationality of the preset running path according to the predicted navigation positioning information and the preset path point information of the path point, and outputting a checking result;
The obtaining the predicted navigation positioning information of the navigation positioning sensor at the path point according to the layout information of the reflector, the preset path point information and the preset performance information of the navigation positioning sensor comprises the following steps:
acquiring a target reflector which can be detected by the navigation positioning sensor at the path point according to the layout information of the reflector, the preset path point information and the preset performance information of the navigation positioning sensor;
predicting predicted navigation positioning information of the navigation positioning sensor at the path point according to the layout information of the target reflector and the preset performance information of the navigation positioning sensor;
the step of checking whether the reflector layout scheme is qualified or not according to the predicted navigation positioning information and the preset path point information of the path point comprises the following steps:
acquiring position distance deviation and/or direction angle deviation between a predicted navigation positioning position and a path point according to the predicted navigation positioning information and preset path point information of the path point;
if the position distance deviation and/or the direction angle deviation exceed the preset threshold value, determining that the layout of the target reflector is unqualified;
If the position distance deviation and/or the direction angle deviation do not exceed the preset threshold value, determining that the layout of the target reflector is qualified;
the outputting the inspection result includes:
if the layout of the target reflector is determined to be unqualified, outputting at least one of preset path point information of the path point, layout information of the target reflector and predicted navigation positioning information and/or outputting prompt information for changing the path or changing the layout of the reflector, and displaying the prompt information on a display unit;
and outputting the reflector layout scheme and/or the preset running path if the layout of the target reflectors of all the path points is qualified.
2. The method according to claim 1, wherein the obtaining the target reflector detectable by the navigation positioning sensor at the waypoint according to the layout information of the reflector, the preset waypoint information, and the preset performance information of the navigation positioning sensor includes:
acquiring a first group of reflectors falling within the detection distance range of the navigation positioning sensor when the navigation positioning sensor is positioned at the path point according to the layout information of the reflectors, the preset path point information and the preset performance information of the navigation positioning sensor;
Deleting the reflecting plates which are blocked between the first group of reflecting plates and the navigation positioning sensor according to the layout information of the first group of reflecting plates and the detection precision of the navigation positioning sensor to obtain a second group of reflecting plates;
and screening a preset number of reflecting plates uniformly distributed around the path point from the second group of reflecting plates to serve as the target reflecting plates according to the layout information of the second group of reflecting plates and the preset path point information.
3. The method according to claim 1 or 2, wherein the reflector layout scheme to be inspected is a reflector layout scheme on a two-dimensional plane or a reflector layout scheme in a three-dimensional space;
the method further comprises the steps of:
acquiring the preset path point information and the preset performance information of the navigation positioning sensor;
the preset path point information comprises position coordinates and direction angles of the path points, and the preset performance information of the navigation positioning sensor comprises a detection distance range and detection precision.
4. A method according to claim 3, wherein said obtaining said preset waypoint information comprises:
acquiring path information of a running path;
discretizing the running path into path points, and acquiring the preset path point information of each path point according to the path information.
5. The method according to claim 1 or 2, wherein the reflector layout scheme further comprises preset environmental layout information comprising shape and/or position coordinates of environmental obstacles.
6. A reflective panel layout inspection apparatus, comprising:
the input module is used for inputting a reflector layout scheme to be checked, wherein the reflector layout scheme comprises layout information of the reflector;
the inspection module is used for acquiring predicted navigation positioning information of the navigation positioning sensor at any path point on a preset running path according to layout information of the reflector, preset path point information and preset performance information of the navigation positioning sensor; checking whether the reflector layout scheme is qualified or not and/or checking the rationality of the preset running path according to the predicted navigation positioning information and the preset path point information of the path point;
The output module is used for outputting the checking result;
the inspection module is used for acquiring predicted navigation positioning information of the navigation positioning sensor at the path point according to the layout information of the reflector, the preset path point information and the preset performance information of the navigation positioning sensor, wherein the predicted navigation positioning information is used for:
acquiring a target reflector which can be detected by the navigation positioning sensor at the path point according to the layout information of the reflector, the preset path point information and the preset performance information of the navigation positioning sensor;
predicting predicted navigation positioning information of the navigation positioning sensor at the path point according to the layout information of the target reflector and the preset performance information of the navigation positioning sensor;
the inspection module is used for inspecting whether the reflector layout scheme is qualified or not according to the predicted navigation positioning information and the preset path point information of the path point:
acquiring position distance deviation and/or direction angle deviation between a predicted navigation positioning position and a path point according to the predicted navigation positioning information and preset path point information of the path point;
if the position distance deviation and/or the direction angle deviation exceed the preset threshold value, determining that the layout of the target reflector is unqualified;
If the position distance deviation and/or the direction angle deviation do not exceed the preset threshold value, determining that the layout of the target reflector is qualified;
the output module is used for:
if the layout of the target reflector is determined to be unqualified, outputting at least one of preset path point information of the path point, layout information of the target reflector and predicted navigation positioning information and/or outputting prompt information for changing the path or changing the layout of the reflector, and displaying the prompt information on a display unit;
and outputting the reflector layout scheme and/or the preset running path if the layout of the target reflectors of all the path points is qualified.
7. The apparatus of claim 6, wherein the inspection module, when acquiring the target reflector detectable by the navigation positioning sensor at the waypoint according to the layout information of the reflector, the preset waypoint information, and the preset performance information of the navigation positioning sensor, is configured to:
acquiring a first group of reflectors falling within the detection distance range of the navigation positioning sensor when the navigation positioning sensor is positioned at the path point according to the layout information of the reflectors, the preset path point information and the preset performance information of the navigation positioning sensor;
Deleting the reflecting plates which are blocked between the first group of reflecting plates and the navigation positioning sensor according to the layout information of the first group of reflecting plates and the detection precision of the navigation positioning sensor to obtain a second group of reflecting plates;
and screening a preset number of reflecting plates uniformly distributed around the path point from the second group of reflecting plates to serve as the target reflecting plates according to the layout information of the second group of reflecting plates and the preset path point information.
8. The apparatus according to claim 6 or 7, wherein the reflector layout to be inspected is a reflector layout on a two-dimensional plane or a reflector layout in a three-dimensional space;
the input module is also used for:
acquiring the preset path point information and the preset performance information of the navigation positioning sensor;
the preset path point information comprises position coordinates and direction angles of the path points, and the preset performance information of the navigation positioning sensor comprises a detection distance range and detection precision;
the input module is used for, when acquiring the preset path point information:
acquiring path information of a running path;
Discretizing the running path into path points, and acquiring the preset path point information of each path point according to the path information.
9. The apparatus according to claim 6 or 7, wherein the reflector layout scheme further comprises preset environmental layout information including shape and/or position coordinates of environmental obstacles.
10. A reflective panel layout inspection apparatus, comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any one of claims 1-5.
11. A computer-readable storage medium, characterized in that a computer program is stored thereon;
the computer program implementing the method according to any of claims 1-5 when executed by a processor.
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