CN111830491B

CN111830491B - Method and device for monitoring reflector in navigation system and electronic equipment

Info

Publication number: CN111830491B
Application number: CN202010774236.6A
Authority: CN
Inventors: 王玥; 郭承志; 贾全
Original assignee: Sany Robot Technology Co Ltd
Current assignee: Sany Robot Technology Co Ltd
Priority date: 2020-08-04
Filing date: 2020-08-04
Publication date: 2023-06-27
Anticipated expiration: 2040-08-04
Also published as: CN111830491A

Abstract

The application provides a method and a device for monitoring a reflector in a navigation system, and belongs to the technical field of navigation positioning. The method comprises the steps of obtaining effective information of each reflector in a region to be monitored and detecting actual effective information of each navigation reflector when a vehicle performs navigation running in the region to be monitored; secondly, detecting whether each navigation reflector is matched with the corresponding reflector or not according to the effective information of each reflector and the actual effective information of each navigation reflector; if the navigation reflectors are not matched with the corresponding reflectors, determining that the abnormal navigation reflectors are abnormal. According to the method and the device, the monitored information and the navigation reflectors are subjected to matching analysis through real-time monitoring on various reflectors, and whether the navigation reflectors have abnormal conditions is judged according to the matching result, so that the monitoring process of the reflectors is more convenient to operate, the feasibility is high, and the position accuracy of each navigation reflector can be improved.

Description

Method and device for monitoring reflector in navigation system and electronic equipment

Technical Field

The present disclosure relates to the field of navigation positioning technologies, and in particular, to a method and an apparatus for monitoring a reflector in a navigation system, and an electronic device.

Background

In modern manufacturing industry, automation of the production stage can significantly improve production efficiency and reduce cost, so that the importance of realizing automation is increasing. Unmanned transfer robots (Automated Guided Vehicle, AGVs) have attracted considerable attention in industry and academia in recent years as transport means in automated production. Among them, the navigation positioning of the AGV is an important research direction. Common industrial AGV navigation positioning modes include magnetic navigation, natural navigation, landmark navigation, laser navigation and the like, wherein the natural navigation mainly comprises visual SLAM or laser SLAM; landmark navigation is mainly two-dimensional codes or RFID tags and the like. The laser navigation based on the reflectors has the advantages of high positioning precision, low maintenance cost, relatively low installation cost, high path planning flexibility of the AGV and the like, and is widely applied to the AGV.

The laser navigation and positioning process with the anti-laser radar based on the reflector can be divided into several stages in sequence: reflector detection, reflector matching, reflector tracking, radar pose calculation and the like. In the reflector detection stage, the accuracy of the anti-positioning of the laser radar completely depends on the observation accuracy of the reflectors and the accuracy of the reflector map, so how to improve the accuracy of the reflectors in the reflector map and the reflectors map is a crucial step in the navigation positioning process.

Disclosure of Invention

In view of this, the embodiment of the application at least provides a method, a device and an electronic device for monitoring a reflector in a navigation system, by monitoring various reflectors in real time, performing matching analysis on monitored information and the navigation reflectors, and judging whether the navigation reflectors have abnormal conditions according to matching results, so that the reflectors are more convenient to operate in the monitoring process, and have strong feasibility, and the accuracy of each navigation reflector in a global coordinate map and a region to be monitored is further improved while the monitoring effect and accuracy are greatly improved.

The application mainly comprises the following aspects:

in a first aspect, an embodiment of the present application provides a method for monitoring a reflector in a navigation system, where the method includes:

acquiring effective information of each reflector in an area to be monitored, and detecting actual effective information of each navigation reflector when a vehicle performs navigation running in the area to be monitored;

detecting whether each navigation reflector is matched with the corresponding reflector or not according to the effective information of each reflector and the actual effective information of each navigation reflector;

if the navigation reflectors are not matched with the corresponding reflectors, determining that the abnormal navigation reflectors are abnormal.

In one possible embodiment, the effective information of the reflector is obtained by:

acquiring preset information of each preset reflector and position information of each reflector in a global coordinate map corresponding to the area to be monitored;

detecting the distance between each reflector and the corresponding preset reflector according to the position information of each reflector and the preset information of each preset reflector;

if the distance between the reflector and the corresponding preset reflector is smaller than the first threshold value, determining the position information of the reflector with the distance smaller than the first threshold value as the effective information of the corresponding reflector.

In one possible implementation, the actual effective information for each navigational reflector is obtained by:

acquiring pose information of a vehicle during navigation driving and local coordinate information of each navigation reflector under the pose;

determining actual global coordinate information of each navigation reflector in a global coordinate map corresponding to the region to be monitored according to the pose and the local coordinates of each navigation reflector;

and determining the corresponding actual global coordinates as actual effective information of each navigation reflector.

In one possible implementation manner, the detecting whether each navigation reflector matches the corresponding reflector according to the effective information of each reflector and the actual effective information of each navigation reflector includes:

searching a reflector with the smallest distance with each navigation reflector from a plurality of reflectors in the area to be monitored according to the effective information of each reflector and the actual effective information of each navigation reflector;

and determining whether each navigation reflector is matched with the corresponding reflector according to the interval distance between each navigation reflector and the reflector with the minimum distance.

In one possible implementation manner, the determining whether each navigation reflector matches the corresponding reflector according to the interval distance between each navigation reflector and the reflector with the smallest distance comprises:

for each navigation reflector, detecting whether the interval distance between the navigation reflector and the corresponding reflector with the smallest distance is larger than a first threshold value and smaller than a second threshold value;

if the interval distance between the navigation reflector and the corresponding reflector is larger than the first threshold value and smaller than the second threshold value, determining that the navigation reflector is not matched with the corresponding reflector, and determining that the navigation reflector has abnormal position movement.

for each navigation reflector, detecting whether the interval distance between the navigation reflector and the reflector with the minimum corresponding distance is larger than or equal to the second threshold value;

and if the interval distance is greater than or equal to the second threshold value, determining that the navigation reflector is not matched with the corresponding reflector, and determining that the navigation reflector is blocked.

determining the number of navigation reflectors in the area to be monitored;

determining the average interval between the navigation reflectors and the corresponding reflectors in the region to be monitored according to the interval distance between each navigation reflector and the reflector with the minimum distance and the determined number;

if the average interval is larger than a third threshold value, determining that the navigation reflectors in the area to be monitored are not matched with the corresponding reflectors, and determining that the navigation reflectors in the area to be monitored have abnormal positioning of vehicles.

In a second aspect, an embodiment of the present application further provides a monitoring device for a reflector in a navigation system, where the monitoring device includes:

the first acquisition module is used for acquiring the effective information of each reflector in the area to be monitored;

the second acquisition module is used for acquiring actual effective information of each navigation reflector detected when the vehicle performs navigation running in the area to be monitored;

the matching module is used for detecting whether each navigation reflector is matched with the corresponding reflector or not according to the effective information of each reflector and the actual effective information of each navigation reflector;

and the abnormality detection module is used for determining that the mismatched navigation reflector is abnormal if the navigation reflector is mismatched with the corresponding reflector.

In one possible implementation manner, the first obtaining module is configured to obtain the effective information of the reflector by:

In one possible implementation manner, the second obtaining module is configured to obtain the actual effective information of each navigation reflector by:

In one possible implementation manner, the matching module is configured to, when detecting whether each navigation reflector matches the corresponding reflector according to the valid information of each reflector and the actual valid information of each navigation reflector,:

In one possible implementation manner, the matching module is configured to, when determining whether each navigation reflector matches the corresponding reflector according to a separation distance between each navigation reflector and the reflector with the smallest distance, determine that each navigation reflector matches the corresponding reflector:

for each navigation reflector, detecting whether the spacing distance between the navigation reflector and the corresponding reflector with the smallest distance is larger than a first threshold value and smaller than a second threshold value.

The abnormal detection module is used for determining that the unmatched navigation reflector is abnormal if the navigation reflector is unmatched with the corresponding reflector, and the matching module is used for:

and the method is used for judging that if the interval distance between the navigation reflecting body and the corresponding reflecting body is larger than the first threshold value and smaller than the second threshold value, the navigation reflecting body is not matched with the corresponding reflecting body, the abnormal position movement of the navigation reflecting body is determined, and meanwhile, an abnormal position movement alarm is sent to a detector.

for each navigation reflector, detecting whether the interval distance between the navigation reflector and the reflector with the minimum corresponding distance is larger than or equal to the second threshold value.

and the method is used for judging that if the interval distance is larger than or equal to the second threshold value, determining that the navigation reflecting body is not matched with the corresponding reflecting body, determining that the navigation reflecting body has the shielded abnormality, and simultaneously giving out a shielded abnormality alarm to a detector.

Determining the number of navigation reflectors in the area to be monitored;

for each navigation reflection, judging whether the average value of the interval distance between the navigation reflection body and the reflection body with the minimum corresponding distance is larger than a third threshold value.

and if the average interval is larger than a third threshold value, determining that the navigation reflectors in the area to be monitored are not matched with the corresponding reflectors, determining that the navigation reflectors in the area to be monitored have abnormal reverse positioning of the vehicle, and simultaneously giving an alarm of abnormal reverse positioning of the vehicle to a detector.

In a third aspect, embodiments of the present application further provide an electronic device, including: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is running, the machine readable instructions when executed by the processor performing the steps of the monitoring method as described in the first aspect or any of the possible implementation manners of the first aspect.

In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the monitoring method described in the first aspect or any of the possible implementation manners of the first aspect.

In the embodiment of the application, through the matching and real-time monitoring of the effective information of each reflector in the area to be monitored and the actual effective information of each navigation reflector, the situation that the navigation reflector moves, is temporarily shielded, is seriously shielded or stained, the global coordinate map is invalid, the bicycle has the abnormal reverse positioning and the like is effectively screened out, the alarm is given, maintenance personnel can conveniently check the problem in time, the reverse positioning precision and the safety in the working space are improved, and when the data information is acquired, the application only needs to acquire various information once, can utilize the pose information fed back by each vehicle in the area to be monitored to carry out the real-time monitoring of the abnormal situation of the internal navigation reflector, the method is more convenient and fast, the abnormal situation can be quickly and accurately found, the abnormal omission rate is reduced, and the running safety is improved. Meanwhile, in the monitoring method provided by the application, the monitoring information of a plurality of vehicles can be used for judging a certain abnormal condition at the same time, so that the false alarm rate is reduced. More importantly, the monitoring method provided by the application document can also be used for monitoring the positioning effectiveness of a single vehicle, checking whether the conditions of abnormal radar installation pose and the like exist or not, and greatly improving the working efficiency while reducing the daily maintenance cost of the navigation reflector in the area to be monitored.

In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flowchart illustrating a method for monitoring a reflector in a navigation system according to an embodiment of the present application;

fig. 2 is a flowchart illustrating a method for acquiring effective information of a reflector in a method for monitoring a reflector in a navigation system according to an embodiment of the present disclosure;

fig. 3 is a flowchart illustrating a method for acquiring actual and effective information of each navigation reflector in a method for monitoring reflectors in a navigation system according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a reflector monitoring device in a navigation system according to an embodiment of the present disclosure;

Fig. 5 shows a schematic structural diagram of an electronic device according to an embodiment of the present application.

Description of main reference numerals:

in the figure: 400-monitoring device of the reflector; 410-a first acquisition module; 420-a second acquisition module; 430-a matching module; 440-an anomaly detection module; 500-an electronic device; 510-a processor; 520-memory; 530-bus.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the accompanying drawings in the present application are only for the purpose of illustration and description, and are not intended to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this application, illustrates operations implemented according to some embodiments of the present application. It should be appreciated that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to the flow diagrams and one or more operations may be removed from the flow diagrams as directed by those skilled in the art.

In addition, the described embodiments are only some, but not all, of the embodiments of the present application. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.

In order to enable one skilled in the art to use the present disclosure, the following embodiments are provided in connection with a specific application scenario "monitoring of reflectors", and it is within the skill of the art to apply the general principles defined herein to other embodiments and applications without departing from the spirit and scope of the present disclosure.

The method, the device, the electronic equipment or the computer readable storage medium described in the embodiments of the present application may be applied to any scene where the monitoring of the reflector is required, and the embodiments of the present application do not limit specific application scenes, and any scheme using the method and the device for monitoring the reflector provided in the embodiments of the present application is within the scope of protection of the present application.

Notably, it has been found that prior to the present application, the reflector-based laser navigation positioning process with anti-lidar can be divided into several stages in sequence: reflector detection, reflector matching, reflector tracking, radar pose calculation and the like. In the reflector detection stage, the accuracy of the anti-positioning of the laser radar completely depends on the observation accuracy of the reflectors and the accuracy of the reflector map, so how to improve the accuracy of the reflectors in the reflector map and the reflectors map is a crucial step in the navigation positioning process.

According to the method for monitoring the reflectors in the navigation system, the positions of the navigation reflectors are moved, temporarily shielded, seriously shielded or stained, the global coordinate map is invalid, the situation that a bicycle is abnormal in positioning is effectively screened out, an alarm is given, maintenance personnel can conveniently and timely check the problem, the anti-positioning accuracy and the safety in a working space are improved, in addition, in the information acquisition stage, all kinds of information are acquired only once, the position and posture information fed back by all vehicles in the area to be monitored can be used for carrying out real-time monitoring on abnormal conditions of the inner navigation reflectors, the abnormal conditions can be found more conveniently and rapidly and accurately, the abnormal omission rate is reduced, and the operation safety is improved. Meanwhile, in the monitoring method provided by the application, the monitoring information of a plurality of vehicles can be used for judging a certain abnormal condition at the same time, so that the false alarm rate is reduced. More importantly, the monitoring method provided by the application document can also be used for monitoring the positioning effectiveness of a single vehicle, checking whether the conditions of abnormal radar installation pose and the like exist or not, and greatly improving the working efficiency while reducing the daily maintenance cost of the navigation reflector in the area to be monitored.

In order to facilitate understanding of the present application, the technical solutions provided in the present application are described in detail below in conjunction with specific embodiments.

Referring to fig. 1, fig. 1 is a flowchart of a method for monitoring a reflector in a navigation system according to an embodiment of the present application. As shown in fig. 1, the method for monitoring a reflector in a navigation system according to an embodiment of the present application includes the following steps:

s101, acquiring effective information of each reflector in an area to be monitored, and detecting actual effective information of each navigation reflector when a vehicle performs navigation running in the area to be monitored.

In a specific implementation, the step belongs to an information acquisition stage, and the monitoring method is realized by firstly acquiring all required information in the monitoring process before all the monitoring processes are started. The effective information of each reflector in the area to be monitored is acquired by acquiring the effective information of the observable anti-observation column when the vehicle runs under the normal running route in the area to be monitored.

The area to be monitored is defined as a standard monitoring state of an object which is not temporarily built in the area and can cause shielding of the reflector. The normal running route is meant to be a route which runs when the vehicle acquires the effective information of the reflector and the actual effective information of the navigation reflector and performs operations such as tracking, goods storage and taking, charge and discharge, active obstacle avoidance and the like in a standard monitoring state. In particular, when the vehicle is in navigation driving of a normal running route in the area to be monitored, positioning data of the vehicle are derived from a laser radar on which the vehicle is mounted and provided with a reverse positioning algorithm.

S102, detecting whether each navigation reflector is matched with the corresponding reflector or not according to the effective information of each reflector and the actual effective information of each navigation reflector.

Further, according to the effective information of each reflector and the actual effective information of each navigation reflector, detecting whether each navigation reflector is matched with the corresponding reflector, including the following steps:

step a; and searching the reflector with the smallest distance with each navigation reflector from the reflectors in the area to be monitored according to the effective information of each reflector and the actual effective information of each navigation reflector.

Step b; and determining whether each navigation reflector is matched with the corresponding reflector according to the interval distance between each navigation reflector and the reflector with the minimum distance.

Specifically, one embodiment of determining whether each navigational reflector matches a corresponding reflector:

(1) For each navigation reflector, detecting whether the spacing distance between the navigation reflector and the corresponding reflector with the smallest distance is larger than a first threshold value and smaller than a second threshold value.

In a specific implementation, the first threshold is a criterion for determining whether the reflector can be used for the anti-locating pose solution and the anti-locating of the information acquisition vehicle at the current position in the anti-locating reflector matching algorithm, that is, the reflector exceeding the first threshold is not considered to be correctly matched in the matching algorithm and cannot be used for the anti-locating.

The second threshold is an upper limit value of the spacing distance, for example, the second threshold is set to be half of a minimum value of the distance between each navigation reflector and the adjacent reflector.

(2) If the interval distance between the navigation reflector and the corresponding reflector is larger than the first threshold value and smaller than the second threshold value, determining that the navigation reflector is not matched with the corresponding reflector, and determining that the navigation reflector has abnormal position movement.

In particular, another embodiment of determining whether each navigational reflector matches a corresponding reflector:

(1) For each navigation reflector, detecting whether the interval distance between the navigation reflector and the reflector with the minimum corresponding distance is larger than or equal to the second threshold value.

In a specific implementation, in the information acquisition stage, the effective information of the expected observed reflectors is numbered, and then whether the interval distance between each navigation reflector and the expected observed reflector with the smallest corresponding distance is larger than or equal to the second threshold value is detected in the normal operation stage of the vehicle.

The number and the positions of the reflective bodies corresponding to the effective information of the reflective bodies expected to be observed are not fixed, and specific setting standards and requirements can be adjusted according to the requirements and arrangement of the actual working environment.

(2) And if the interval distance is greater than or equal to the second threshold value, determining that the navigation reflector is not matched with the corresponding reflector, and determining that the navigation reflector is blocked.

In a specific implementation, if the interval distance between each navigation reflector and the corresponding expected observed reflector with the smallest distance is greater than or equal to the second threshold value, it is indicated that the current vehicle does not observe the corresponding expected observed reflector under the current pose.

Further, if the current vehicle is running continuously in the area to be monitored, the corresponding expected observed reflector cannot be observed only at part of the positions, and at other positions, the corresponding expected observed reflector can be observed, which means that the expected observed reflector is temporarily blocked.

If the current vehicle continuously runs in the area to be monitored, the corresponding expected observed reflector cannot be observed at all positions of the whole running route, and the corresponding expected observed reflector cannot be observed when a plurality of vehicles continuously run in the area to be monitored, the expected observed reflector is seriously blocked or stained.

(1) And determining the number of navigation reflectors in the area to be monitored.

(2) And determining the average interval between the navigation reflectors and the corresponding reflectors in the area to be monitored according to the interval distance between each navigation reflector and the reflector with the minimum distance and the determined number.

In a specific implementation, the average interval between the navigation reflector and the corresponding reflector in the area to be monitored is specifically:

and solving the positioning quality evaluation value of the current position of the current vehicle at the current moment according to the actual global coordinates of the navigation reflectors and the effective reflector information in the global coordinate map.

The positioning quality is the average interval of the distance between the navigation reflector and the corresponding reflector determined according to the actual global coordinates of the navigation reflector solved by the current pose of the vehicle and the corresponding reflector effective information.

(3) If the average interval is larger than a third threshold value, determining that the navigation reflectors in the area to be monitored are not matched with the corresponding reflectors, and determining that the navigation reflectors in the area to be monitored have abnormal positioning of vehicles.

In an implementation, if the average interval is greater than the third threshold, the quality of the positioning continues to be poor.

Further, if the average intervals monitored by the different vehicles in the area to be monitored are all larger than a third threshold value, the global coordinate map is invalid.

And if the average interval part monitored by different vehicles in the area to be monitored is larger than a third threshold value, indicating that the monitored vehicles with the average interval larger than the third threshold value have reverse positioning abnormality.

S103, if the navigation reflectors are not matched with the corresponding reflectors, determining that the abnormal navigation reflectors are abnormal.

In the step, the abnormal existence of the unmatched navigation reflectors is specifically five, and the method comprises the following steps: abnormal position movement of the navigation reflector, abnormal temporary shielding of the navigation reflector, serious shielding or pollution of the navigation reflector, abnormal failure of the global coordinate map and abnormal reverse positioning of the bicycle.

And when the detected interval distance between the navigation reflecting body and the reflecting body with the minimum distance is larger than a first threshold value and smaller than a second threshold value, the position movement of the navigation reflecting body is abnormal, and meanwhile, the position movement abnormality alarm of the corresponding navigation reflecting body is sent out.

When the interval distance between the detected navigation reflectors and the expected observed reflectors with the smallest corresponding distance is larger than or equal to the second threshold value, the corresponding expected observed reflectors cannot be observed at part of the same vehicle, and the corresponding expected observed reflectors can be observed at other positions, the navigation reflectors are temporarily shielded, namely under certain observation angles, the laser radar cannot obtain effective reflected light on the navigation reflectors due to the fact that the laser radar irradiates a shielding object, abnormal alarm is sent when the corresponding navigation reflectors are temporarily shielded, track segments corresponding to failure observation are marked, and maintenance personnel can conveniently find the shielding object at the corresponding angle to correct the shielding object.

When the interval distance between the detected navigation reflectors and the expected observed reflectors with the minimum corresponding distance is larger than or equal to the second threshold value, and the corresponding expected observed reflectors cannot be observed at all positions of the same vehicle running, the navigation reflectors are seriously shielded or stained, the existence of the navigation reflectors in the global coordinate map is invalid, and the corresponding navigation reflectors are controlled to be sent out to be seriously shielded or stained abnormal alarm, so that maintenance personnel are reminded of carrying out problem investigation to the reflectors.

When the average interval between the navigation reflectors and the corresponding reflectors is larger than a third threshold value, and the average intervals monitored by different vehicles in the area to be monitored are larger than the third threshold value, the global coordinate map is invalid, and the global coordinate map is possibly invalid due to the fact that most navigation reflectors move, so that the overall accuracy of the global coordinate map is too poor, the anti-positioning accuracy is reduced, and at the moment, a global coordinate map invalidation alarm is sent to remind maintenance personnel to maintain or reconstruct the map for all the reflectors.

When the average interval between the navigation reflector and the corresponding reflector is larger than a third threshold value, and the average interval part monitored by different vehicles in the area to be monitored is larger than the third threshold value, the condition that the vehicle is abnormal in anti-positioning is indicated, and the vehicle is abnormal due to pose change of a radar of the vehicle body or abnormal radar measurement result, so that the vehicle is low in anti-positioning precision, an anti-positioning abnormal alarm of the vehicle is sent out at the moment, and maintenance personnel are reminded of checking the vehicle.

Referring to fig. 2, fig. 2 is a flowchart of obtaining effective information of a reflector in a method for monitoring a reflector in a navigation system according to an embodiment of the present application. As shown in fig. 2, in the method for monitoring a reflector in a navigation system provided by the embodiment of the present application, effective information of the reflector is obtained by the following method, which includes the following steps:

s201, acquiring preset information of each preset reflector and position information of each reflector in a global coordinate map corresponding to the area to be monitored.

In a specific implementation, the global coordinate map is already accurately obtained as the known information of the monitoring, and the information recorded in the global coordinate map is preset information of the preset reflector. The position information of the reflector is the initial position information of the reflector in the area to be monitored.

The global coordinate map is a key factor of the laser radar with anti-positioning precision, and is also an important standard for judging abnormal situations such as the movement of the navigation reflectors in the embodiment of the application.

S202, detecting the distance between each reflector and the corresponding preset reflector according to the position information of each reflector and the preset information of each preset reflector.

In a specific implementation, the purpose of detecting the distance between each reflector and the corresponding preset reflector is to detect whether there is a valid match between each reflector and the corresponding preset reflector, wherein the criterion of the match is related to the distance, e.g. the size of the distance.

And S203, if the distance between the reflector and the corresponding preset reflector is smaller than a first threshold value, determining the position information of the reflector with the distance smaller than the first threshold value as the effective information of the corresponding reflector.

In a specific implementation, the effective matching between each reflector and the corresponding preset reflector is that the distance between the two reflectors is smaller than a first threshold value, and the position information of the reflector with the distance smaller than the first threshold value is determined to be the effective information of the corresponding reflector.

The effective information of the reflector can be used for resolving the anti-positioning pose of the information acquisition vehicle at the current position.

Referring to fig. 3, fig. 3 is a flowchart of obtaining actual effective information of each navigation reflector in a method for monitoring reflectors in a navigation system according to an embodiment of the present application. As shown in fig. 3, in the method for monitoring reflectors in a navigation system provided in the embodiment of the present application, actual effective information of each navigation reflector is obtained by the following method, including the following steps:

S301, acquiring pose information of a vehicle during navigation driving and local coordinate information of each navigation reflector under the pose.

In the implementation, the vehicle with the anti-positioning function of the laser radar by using the global coordinate map in the area to be monitored is obtained, and the position information of each navigation reflector obtained through a reflector detection algorithm under each corresponding pose and the position information of each navigation reflector during navigation running are obtained.

The position information of each navigation reflector is the local coordinate information of each navigation reflector.

S302, determining actual global coordinate information of each navigation reflector in a global coordinate map corresponding to the region to be monitored according to the pose and the local coordinates of each navigation reflector.

In specific implementation, according to the pose information of the vehicle and the position information of each navigation reflector obtained by a reflector detection algorithm under the corresponding poses, the actual global coordinate information of each navigation reflector in the global coordinate map corresponding to the region to be monitored is determined.

S303, determining the corresponding actual global coordinates as actual effective information of each navigation reflector.

Compared with the reflector navigation positioning monitoring method in the prior art, the reflector monitoring method in the navigation system effectively screens out the situation that the position of the navigation reflector moves, is temporarily shielded, is seriously shielded or stained, the global coordinate map fails, a bicycle is abnormal in positioning and the like through matching and real-time monitoring of the effective information of each reflector and the actual effective information of each navigation reflector in the area to be monitored, alarms are conducted, maintenance personnel can conveniently and timely check the problem, the positioning accuracy and the safety in the working space are improved, in addition, in the information acquisition stage, all kinds of information are acquired once, the position and posture information fed back by all vehicles in the area to be monitored can be used for carrying out real-time monitoring on the abnormal situation of the inner navigation reflector, the abnormal condition can be found more conveniently and conveniently, quickly and accurately, the abnormal omission rate is reduced, and the running safety is improved. Meanwhile, in the monitoring method provided by the application, the monitoring information of a plurality of vehicles can be used for judging a certain abnormal condition at the same time, so that the false alarm rate is reduced. More importantly, the monitoring method provided by the application document can also be used for monitoring the positioning effectiveness of a single vehicle, checking whether the conditions of abnormal radar installation pose and the like exist or not, and greatly improving the working efficiency while reducing the daily maintenance cost of the navigation reflector in the area to be monitored.

Based on the same application conception, the embodiment of the application also provides a device for monitoring the reflector corresponding to the method for monitoring the reflector provided by the embodiment, and because the principle of solving the problem by the device in the embodiment of the application is similar to that of the method for monitoring the reflector in the embodiment of the application, the implementation of the device can be referred to the implementation of the method, and the repetition is omitted.

Referring to fig. 4, fig. 4 is a schematic structural diagram of a reflector monitoring device in a navigation system according to an embodiment of the present application.

As shown in fig. 4, the monitoring device 400 for a reflector in the navigation system includes:

the first acquisition module 410: the method comprises the steps of acquiring effective information of each reflector in a region to be monitored;

the second acquisition module 420: the method comprises the steps of acquiring actual effective information of each navigation reflector detected when a vehicle performs navigation running in the area to be monitored;

matching module 430: the method comprises the steps of detecting whether each navigation reflector is matched with a corresponding reflector or not according to effective information of each reflector and actual effective information of each navigation reflector;

anomaly detection module 440: if the navigation reflectors are not matched with the corresponding reflectors, determining that the abnormal navigation reflectors are abnormal.

In one possible implementation, the first obtaining module 410 includes:

In one possible implementation, the second obtaining module 420 includes:

In one possible implementation, the matching module 430 is configured to, when detecting whether each navigation reflector matches the corresponding reflector according to the valid information of each reflector and the actual valid information of each navigation reflector, the matching module 430 is configured to:

In one possible implementation, the matching module 430 is configured to, when determining whether each navigation reflector matches the corresponding reflector according to a separation distance between each navigation reflector and the reflector having the smallest distance, the matching module 430 is configured to:

The anomaly detection module 440 is configured to, when it is determined that there is an anomaly in the navigation reflector and the corresponding reflector is not matched, the matching module 430 is configured to:

The anomaly detection module is used for determining that the mismatched navigation reflector is abnormal if the navigation reflector is mismatched with the corresponding reflector, and is specifically used for:

In one possible implementation manner, the matching module is specifically configured to, when determining whether each navigation reflector matches the corresponding reflector according to a separation distance between each navigation reflector and the reflector with the smallest distance.

Determining the number of navigation reflectors in the area to be monitored;

Compared with the reflector monitoring device in the prior art, in the embodiment of the application, through matching and real-time monitoring of the effective information of each reflector in the area to be monitored and the actual effective information of each navigation reflector, the situations such as the position movement of the navigation reflector, temporary shielding, serious shielding or fouling, global coordinate map failure, abnormal positioning of a bicycle and the like are effectively screened out, alarming is carried out, maintenance staff can conveniently and timely check the problems, the anti-positioning precision and the safety in the working space are improved, in addition, the real-time monitoring of the abnormal situation of the internal navigation reflector is carried out only by the position information fed back by each vehicle in the area to be monitored, the real-time monitoring of the abnormal situation of the internal navigation reflector is carried out by the follow-up available position information of each vehicle in the area to be monitored, the abnormal situation is more convenient and fast, the abnormal condition can be accurately found, the abnormal omission rate is reduced, and the running safety is improved. Meanwhile, in the monitoring method provided by the application, the monitoring information of a plurality of vehicles can be used for judging a certain abnormal condition at the same time, so that the false alarm rate is reduced. More importantly, the monitoring method provided by the application document can also be used for monitoring the positioning effectiveness of a single vehicle, checking whether the conditions of abnormal radar installation pose and the like exist or not, and greatly improving the working efficiency while reducing the daily maintenance cost of the navigation reflector in the area to be monitored.

Referring to fig. 5, fig. 5 is a schematic structural diagram of an electronic device 500 according to an embodiment of the present application, including: the system comprises a processor 510, a memory 520 and a bus 530, wherein the memory 520 stores machine readable instructions executable by the processor 510, the processor 510 and the memory 520 communicating via the bus 530 when the electronic device 500 is operated, the machine readable instructions being executed by the processor 510 to perform the steps of the method for monitoring reflectors according to any of the above embodiments.

In particular, the machine-readable instructions, when executed by the processor 510, may perform the following:

acquiring effective information of each reflector in an area to be monitored and actual effective information of each navigation reflector monitored when a vehicle performs navigation running in the area to be monitored;

In the embodiment of the application, through the matching and real-time monitoring of the effective information of each reflector in the area to be monitored and the actual effective information of each navigation reflector, the situation that the navigation reflector moves, is temporarily shielded, is seriously shielded or stained, the global coordinate map is invalid, the bicycle has the abnormal reverse positioning and the like is effectively screened out, the alarm is given, maintenance personnel can conveniently and timely check the problem, the anti-positioning precision and the safety in the working space are improved, the information acquisition stage is realized, all kinds of information are only required to be acquired once, the real-time monitoring of the abnormal situation of the internal navigation reflector is realized by the pose information fed back by each vehicle in the area to be monitored, the abnormal situation can be more conveniently and conveniently found quickly and accurately, the abnormal omission rate is reduced, and the operation safety is improved. Meanwhile, in the monitoring method provided by the application, the monitoring information of a plurality of vehicles can be used for judging a certain abnormal condition at the same time, so that the false alarm rate is reduced. More importantly, the monitoring method provided by the application document can also be used for monitoring the positioning effectiveness of a single vehicle, checking whether the conditions of abnormal radar installation pose and the like exist or not, and greatly improving the working efficiency while reducing the daily maintenance cost of the navigation reflector in the area to be monitored.

Based on the same application concept, the embodiment of the present application further provides a computer readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps of the method for monitoring the reflector provided by the foregoing embodiment are executed.

Specifically, the storage medium can be a general storage medium, such as a mobile magnetic disk, a hard disk, and the like, and when the computer program on the storage medium is run, the method for monitoring the reflector can be executed, so that the accuracy of the detection result of the reflector can be improved, and the accuracy of the final pose calculation of laser navigation based on the reflector can be further improved.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, 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 through some communication interface, device or unit indirect coupling or communication connection, 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 each embodiment of the present application 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 functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solutions of the present application may be embodied in essence or a part contributing to the prior art or a part of the technical solutions, or in the form of a software product, which is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. 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.

The foregoing is merely a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes or substitutions are covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for monitoring reflectors in a navigation system, the method comprising:

acquiring effective information of each reflector in an area to be monitored and actual effective information of each navigation reflector detected when a vehicle performs navigation running in the area to be monitored, wherein the effective information of the reflectors is acquired by the following steps: acquiring preset information of each preset reflector and position information of each reflector in a global coordinate map corresponding to the area to be monitored; detecting the distance between each reflector and the corresponding preset reflector according to the position information of each reflector and the preset information of each preset reflector; if the distance between the reflector and the corresponding preset reflector is smaller than a first threshold, determining the position information of the reflector with the distance smaller than the first threshold as effective information of the corresponding reflector, wherein the first threshold is a standard for judging whether the reflector can be used for resolving the position and the pose of the information acquisition vehicle with the anti-positioning at the current position and for carrying out anti-positioning in a matching algorithm of the reflector with the anti-positioning, and the preset information of the preset reflector is recorded in a global coordinate map; the actual effective information of each navigation reflector is obtained by the following method: acquiring pose information of a vehicle during navigation driving and local coordinate information of each navigation reflector under the pose; determining actual global coordinate information of each navigation reflector in a global coordinate map corresponding to the region to be monitored according to the pose and the local coordinates of each navigation reflector; determining the corresponding actual global coordinates as actual effective information of each navigation reflector;

2. The method according to claim 1, wherein detecting whether each navigation reflector matches a corresponding reflector based on the valid information of each reflector and the actual valid information of each navigation reflector comprises:

3. The method of claim 2, wherein determining whether each navigation reflector matches a corresponding reflector based on a separation distance between each navigation reflector and a reflector having a smallest distance, comprises:

4. The method of claim 2, wherein determining whether each navigation reflector matches a corresponding reflector based on a separation distance between each navigation reflector and a reflector having a smallest distance, comprises:

for each navigation reflector, detecting whether the interval distance between the navigation reflector and the reflector with the minimum corresponding distance is larger than or equal to a second threshold value;

5. The method of claim 2, wherein determining whether each navigation reflector matches a corresponding reflector based on a separation distance between each navigation reflector and a reflector having a smallest distance, comprises:

Determining the number of navigation reflectors in the area to be monitored;

6. A device for monitoring reflectors in a navigation system, the device comprising:

the device comprises a first acquisition module, a second acquisition module and a display module, wherein the first acquisition module is used for acquiring the effective information of each reflector in a region to be monitored, and the first acquisition module is used for acquiring the effective information of the reflector in the following mode: acquiring preset information of each preset reflector and position information of each reflector in a global coordinate map corresponding to the area to be monitored; detecting the distance between each reflector and the corresponding preset reflector according to the position information of each reflector and the preset information of each preset reflector; if the distance between the reflector and the corresponding preset reflector is smaller than a first threshold, determining the position information of the reflector with the distance smaller than the first threshold as effective information of the corresponding reflector, wherein the first threshold is a standard for judging whether the reflector can be used for resolving the position and the pose of the information acquisition vehicle with the anti-positioning at the current position and for carrying out anti-positioning in a matching algorithm of the reflector with the anti-positioning, and the preset information of the preset reflector is recorded in a global coordinate map;

The second acquisition module is used for acquiring the actual effective information of each navigation reflector detected when the vehicle performs navigation running in the area to be monitored, wherein the second acquisition module is used for acquiring the actual effective information of each navigation reflector by the following modes: acquiring pose information of a vehicle during navigation driving and local coordinate information of each navigation reflector under the pose; determining actual global coordinate information of each navigation reflector in a global coordinate map corresponding to the region to be monitored according to the pose and the local coordinates of each navigation reflector; determining the corresponding actual global coordinates as actual effective information of each navigation reflector;

and a matching module: the method comprises the steps of detecting whether each navigation reflector is matched with a corresponding reflector or not according to effective information of each reflector and actual effective information of each navigation reflector;

7. The monitoring device of claim 6, wherein the matching module is configured to, when detecting whether each navigation reflector matches a corresponding reflector based on the validity information of each reflector and the actual validity information of each navigation reflector:

8. The monitoring device according to claim 7, wherein the matching module is configured to, when determining whether each navigation reflector matches a corresponding reflector according to a separation distance between each navigation reflector and the reflector having the smallest distance, specifically:

9. The monitoring device according to claim 7, wherein the matching module is configured to, when determining whether each navigation reflector matches a corresponding reflector according to a separation distance between each navigation reflector and the reflector having the smallest distance, specifically:

the anomaly detection module is used for determining that the navigation reflector which is not matched with the corresponding reflector is abnormal if the navigation reflector is not matched with the corresponding reflector, and the anomaly detection module is specifically used for:

10. The monitoring device of claim 7, wherein the matching module is configured to, when determining whether each navigation reflector matches a corresponding reflector based on a separation distance between each navigation reflector and the reflector having the smallest distance to the corresponding reflector:

Determining the number of navigation reflectors in the area to be monitored;

for each navigation reflector, judging whether the average value of the interval distance between the navigation reflector and the reflector with the minimum corresponding distance is larger than a third threshold value;

11. An electronic device, comprising: a processor, a memory and a bus, said memory storing machine readable instructions executable by said processor, said processor and said memory communicating via the bus when the electronic device is running, said machine readable instructions when executed by said processor performing the steps of the monitoring method according to any of the preceding claims 1 to 5.

12. A computer-readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, performs the steps of the monitoring method according to any of the preceding claims 1 to 5.