CN115903587A - Control method, device and equipment of surveying and mapping vehicle and storage medium - Google Patents
Control method, device and equipment of surveying and mapping vehicle and storage medium Download PDFInfo
- Publication number
- CN115903587A CN115903587A CN202211372671.1A CN202211372671A CN115903587A CN 115903587 A CN115903587 A CN 115903587A CN 202211372671 A CN202211372671 A CN 202211372671A CN 115903587 A CN115903587 A CN 115903587A
- Authority
- CN
- China
- Prior art keywords
- point cloud
- mapping
- surveying
- vehicle
- scanning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses control method, device, equipment and storage medium of a surveying and mapping vehicle, and relates to the field of surveying and mapping, wherein the control method of the surveying and mapping vehicle comprises the following steps: acquiring point cloud data, wherein the point cloud data is obtained by scanning through a laser scanning component in the driving process of the surveying and mapping vehicle; determining point cloud density according to the point cloud data; and sending the point cloud density to a remote management platform, wherein the remote management platform is used for controlling the driving speed of the surveying and mapping vehicle according to the point cloud density, and the point cloud densities corresponding to different driving speeds are different. The validity of the mapping data is guaranteed.
Description
Technical Field
The application belongs to the field of surveying and mapping, and particularly relates to a surveying and mapping vehicle control method, device, equipment and storage medium.
Background
Surveying and mapping, namely measurement and mapping, is based on technologies such as computer technology, photoelectric technology, network communication technology, space science technology, information science technology and the like, takes a global navigation satellite positioning system (GNSS), remote Sensing (RS) and a Geographic Information System (GIS) as technical cores, selects existing characteristic points and boundary lines on the ground and obtains figure and position information reflecting the current situation of the ground by a measurement means, and is used for engineering construction, planning and design and administrative management. Along with the continuous development of the technology, the surveying and mapping is gradually developed to automation and intellectualization, the prior manual surveying and mapping is converted into the traditional method that a vehicle is manually driven, the scanning and surveying and mapping device is carried on the top of the vehicle to the planned point position to acquire the surveying and mapping data, and then the unmanned vehicle is mainly adopted to carry the scanning and surveying and mapping device to execute scanning and mapping according to the path planning so as to acquire the surveying and mapping data.
In the related art, when a scanning and mapping device is mounted on an automobile or an unmanned vehicle to perform a mapping task, the scanning and mapping device scans the surrounding environment to obtain point cloud data, namely mapping data, during the driving process of the automobile or the unmanned vehicle, but the validity of the mapping data is difficult to guarantee. Therefore, a solution for ensuring the validity of mapping data is needed.
Disclosure of Invention
In order to solve the above problems, i.e. to ensure the validity of mapping data, the application provides a control method, device, equipment and storage medium of a mapping vehicle.
In a first aspect, the present application provides a control method for a mapping vehicle, which is applied to a mapping scanning device, the mapping scanning device includes a laser scanning assembly, the mapping vehicle is an unmanned vehicle loaded with the mapping scanning device, and the control method for the mapping vehicle includes: acquiring point cloud data, wherein the point cloud data is obtained by scanning through a laser scanning component in the driving process of the surveying and mapping vehicle; determining point cloud density according to the point cloud data; and sending the point cloud density to a remote management platform, wherein the remote management platform is used for controlling the driving speed of the surveying and mapping vehicle according to the point cloud density, and the point cloud densities corresponding to different driving speeds are different.
In a preferred technical solution of the control method for a surveying vehicle, determining the density of the point cloud according to the point cloud data includes: and performing point cloud resolving processing on the point cloud data by adopting a point cloud algorithm to obtain point cloud density.
In a preferred embodiment of the control method for the surveying vehicle, the surveying and mapping apparatus further includes a panoramic camera module, and the control method further includes: acquiring panoramic picture data, wherein the panoramic picture data is obtained by shooting a target object by a panoramic shooting component; determining the structural complexity of the target object according to the panoramic picture data; and sending the structural complexity to a remote management platform, wherein the remote management platform is used for controlling the running speed of the mapping vehicle according to the structural complexity, and the structural complexity corresponding to different running speeds is different.
In a preferred technical solution of the control method for a surveying vehicle, determining the structural complexity of the target object according to the panoramic image data includes: denoising the panoramic picture data to obtain denoised picture data; and carrying out image modeling processing on the de-noised picture data to obtain the structural complexity.
In a second aspect, the present application provides a control method for a mapping vehicle, applied to a remote management platform, the control method for the mapping vehicle including: receiving point cloud density sent by a surveying and mapping scanning device, wherein the point cloud density is determined by the surveying and mapping scanning device according to point cloud data obtained by scanning of a laser scanning component in the process that a surveying and mapping vehicle runs at a first running speed, the surveying and mapping device comprises the laser scanning component, and the surveying and mapping vehicle is an unmanned vehicle loaded with the surveying and mapping device; adjusting the first driving speed according to the point cloud density to obtain a second driving speed; and sending the second running speed to the surveying vehicle so as to control the surveying vehicle to run according to the second running speed.
In a preferred technical solution of the above control method for a surveying vehicle, adjusting the first driving speed according to the point cloud density to obtain a second driving speed includes: if the point cloud density is smaller than a first threshold value, reducing the first driving speed to obtain a second driving speed; if the point cloud density is larger than a second threshold value, increasing the first driving speed to obtain a second driving speed; if the point cloud density is greater than or equal to the first threshold and less than or equal to the second threshold, determining that the second driving speed is the first driving speed; wherein the first threshold is less than the second threshold.
In a preferred embodiment of the control method for a surveying vehicle, the method further includes: receiving the structural complexity of a target object sent by a mapping and scanning device, wherein the structural complexity is determined by the mapping and scanning device according to panoramic picture data obtained by shooting the target object by a panoramic shooting component, and the mapping and scanning device comprises the panoramic shooting component; and adjusting the first running speed according to the structural complexity to obtain a third running speed.
In a preferred embodiment of the control method for a surveying vehicle, the adjusting the first traveling speed according to the structural complexity to obtain the third traveling speed includes: if the structural complexity is greater than or equal to a third threshold value and less than or equal to a fourth threshold value, adjusting the first running speed according to the point cloud density to obtain a third running speed, wherein the third threshold value is less than the fourth threshold value; if the structural complexity is smaller than a third threshold value, increasing the first running speed to obtain a third running speed; and if the structural complexity is greater than a fourth threshold value, reducing the first running speed to obtain a third running speed.
In a third aspect, the present application provides a control device for a surveying and mapping vehicle, which is applied to a surveying and mapping device, the surveying and mapping device comprises a laser scanning assembly, the surveying and mapping vehicle is an unmanned vehicle loaded with the surveying and mapping device, and the control device for the surveying and mapping vehicle comprises: the acquisition module is used for acquiring point cloud data, and the point cloud data is obtained by scanning of the laser scanning assembly in the driving process of the surveying and mapping vehicle; the point cloud calculating module is used for determining the density of the point cloud according to the point cloud data; and the sending module is used for sending the point cloud density to the remote management platform, and the remote management platform is used for controlling the driving speed of the mapping vehicle according to the point cloud density, wherein the point cloud densities corresponding to different driving speeds are different.
In a fourth aspect, the present application provides a control device for a mapping vehicle, which is applied to a remote management platform, and comprises: the receiving module is used for receiving the point cloud density sent by the surveying and mapping scanning equipment, the point cloud density is determined by the surveying and mapping scanning equipment according to point cloud data obtained by scanning of the laser scanning component in the process that the surveying and mapping vehicle runs at a first running speed, the surveying and mapping equipment comprises the laser scanning component, and the surveying and mapping vehicle is an unmanned vehicle loaded with the surveying and mapping equipment; the adjusting module is used for adjusting the first driving speed according to the point cloud density to obtain a second driving speed; and the sending module is used for sending the second running speed to the surveying and mapping vehicle so as to control the surveying and mapping vehicle to run according to the second running speed.
In a fifth aspect, the present application provides a survey scanning apparatus comprising: a processor, and a memory communicatively coupled to the processor; the memory stores computer execution instructions; the processor executes the computer-executable instructions stored in the memory to implement the method of controlling a mapping vehicle according to the first aspect.
In a sixth aspect, the present application provides a server, comprising: a processor, and a memory communicatively coupled to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the mapping vehicle control method of the second aspect.
In a seventh aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, the computer-executable instructions are used for implementing the control method of the mapping vehicle according to the first aspect or the second aspect.
In an eighth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements a method of controlling a mapping vehicle as in the first or second aspect.
According to the control method, device, equipment and storage medium of the surveying and mapping vehicle, in the driving process of the surveying and mapping vehicle, the point cloud data of the target object are obtained through the surveying and mapping scanning equipment, the point cloud density of the target object is determined according to the point cloud data, the driving speed of the surveying and mapping vehicle is controlled by the remote management platform according to the point cloud density sent by the surveying and mapping scanning equipment, due to the fact that the point cloud densities corresponding to different driving speeds are different, namely, when the point cloud density is large, the surveying and mapping vehicle is controlled to accelerate, and when the point cloud density is small, the speed of the surveying and mapping vehicle is controlled to decelerate, therefore, the effectiveness of the obtained point cloud data can be guaranteed by controlling the driving speed of the surveying and mapping vehicle, and therefore the effectiveness of the surveying and mapping data is guaranteed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a control system of a mapping vehicle according to an embodiment of the present disclosure;
FIG. 2 is a flowchart of a first embodiment of a method for controlling a mapping vehicle according to the present application;
fig. 3 is a flowchart of a second control method for a mapping vehicle according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a first control device of a mapping vehicle according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a second control device of the mapping vehicle according to the embodiment of the present application;
FIG. 6 is a block diagram illustrating a scanning mapping device in accordance with an exemplary embodiment;
FIG. 7 is a block diagram illustrating a server in accordance with an example embodiment.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The related art mentioned in the background art has at least the following technical problems:
the traditional mapping vehicle is driven by a driver to a planned point position to acquire mapping data, and a scanning mapping device is loaded on the roof of the vehicle. With the development of the unmanned technology, the unmanned vehicle is also adopted to carry a scanning surveying and mapping device to execute a surveying and mapping task according to a planned path at present, and surveying and mapping data, namely power supply data, is obtained. The vehicle and the unmanned vehicle are only one vehicle, and the scanning surveying and mapping device works independently without communication and cooperation with the vehicle.
The inventor finds that when the automobile and the unmanned vehicle execute the mapping task, the automobile and the unmanned vehicle can be in a constant-speed driving state, and the point cloud densities of the point cloud data scanned by the scanning mapping device are the same for all passing scenes of the automobile or the unmanned vehicle. Therefore, under the condition of certain too complex appearance scenes, the point cloud density of the obtained point cloud data is small, and the building modeling application is not facilitated; under a relatively simple appearance scene, the obtained point cloud data has high point cloud density, which causes waste of storage resources and processing resources. Therefore, the validity of the mapping data cannot be guaranteed, and a scheme capable of guaranteeing the validity of the mapping data is urgently needed.
Therefore, the application provides a control method of a surveying and mapping vehicle, in the driving process of the surveying and mapping vehicle, the point cloud data of the target object is obtained through the surveying and mapping scanning device, the point cloud density of the target object is determined according to the point cloud data, the driving speed of the surveying and mapping vehicle is controlled by the remote management platform according to the point cloud density sent by the surveying and mapping scanning device, the point cloud densities corresponding to different driving speeds are different, namely, when the point cloud density is large, the surveying and mapping vehicle is controlled to accelerate, and when the point cloud density is small, the surveying and mapping vehicle is controlled to decelerate, therefore, the effectiveness of the obtained point cloud data can be ensured by controlling the driving speed of the surveying and mapping vehicle, and the effectiveness of the surveying and mapping data is ensured.
In one embodiment, the control method of the mapping vehicle can be used in an application scenario. Fig. 1 is a schematic structural diagram of a control system of a mapping vehicle provided in an embodiment of the present application, and as shown in fig. 1, the control system of the mapping vehicle may include a remote management platform and the mapping vehicle, where the mapping vehicle includes an unmanned vehicle and a mapping scanning device, and the mapping scanning device is mounted on the unmanned vehicle.
In above-mentioned scene, the remote management platform is used for carrying out remote control to the survey and drawing car, issues survey and drawing scanning task to the survey and drawing car, looks over the scanning progress of survey and drawing car and the position of survey and drawing car etc. and the survey and drawing car is after receiving the survey and drawing task, and unmanned car and survey and drawing scanning equipment start the power-on and preheat to the execution is to the survey and drawing scanning task of route of traveling, obtains the mapping data.
In above-mentioned scene, unmanned vehicle includes unmanned vehicle chassis subassembly, whole car control module, navigation and keeps away barrier module, laser radar device, remote control module, orientation module and first networking module etc. unmanned vehicle chassis subassembly contains frame, automobile body, wheel, motor, battery and motor drive etc. and the battery can be the lithium cell.
The unmanned vehicle can be a mobile robot, the mobile robot can be an Ackerman type robot, a two-wheel or four-wheel differential type robot, a Mecanum wheel or omnidirectional mobile robot, a double-track type robot, a four-wheel drive robot and other robots with various motion modes, and energy can be provided by a lithium battery to drive a motor to drive so as to control the unmanned vehicle to run and steer.
The whole vehicle control module can be in driving connection with a battery and a motor in the unmanned vehicle chassis assembly, is in communication connection with the remote control module, the navigation obstacle avoidance module and the first networking module, and is used for controlling the driving, steering, starting, stopping, accelerating, decelerating, braking, parking and other actions of the unmanned vehicle.
The remote control module is used for being connected with a remote controller and can be used for manually remotely controlling the unmanned vehicle to execute related actions.
The navigation obstacle avoidance module is in communication connection with the laser radar device and the positioning module and used for path planning and positioning when the unmanned vehicle performs automatic driving and obstacle avoidance in driving.
In the above scenario, the mapping and scanning device includes a scanning control module, a panoramic camera module, a laser scanning module, a point cloud resolving module, a second networking module, and the like.
The scanning control module is in communication connection with the panoramic camera module and the laser scanning module and is used for controlling the start and/or stop of the panoramic camera module and the laser scanning module.
The panoramic camera module is in communication connection with the point cloud resolving module and used for shooting scenes included in the driving path of the unmanned vehicle to obtain panoramic photo data of a target object and sending the shot panoramic photo data to the point cloud resolving module in real time, and the surveying and mapping data comprises the panoramic photo data.
The laser scanning module is in communication connection with the point cloud resolving module and is used for conducting 360-degree rotary scanning on a driving path of the unmanned vehicle, point cloud data are obtained, the point cloud data obtained through scanning are sent to the point cloud resolving module in real time, and mapping data comprise the point cloud data.
And the point cloud calculating module is in communication connection with the second networking module and is used for carrying out real-time calculation, denoising and modeling analysis on the panoramic picture sent by the panoramic camera module and the point cloud data sent by the laser scanning module and outputting the structural complexity and the point cloud density of the point cloud 3D structure in real time.
The second networking module is in communication connection with the first networking module and used for achieving wired and/or wireless data interaction communication between the unmanned vehicle and the surveying and mapping equipment, and the remote management platform is in communication connection with the first networking module and the second networking module and used for achieving data interaction communication between the remote management platform and the surveying and mapping equipment as well as the unmanned vehicle.
In the above scenario, the survey scanning device sends the structural complexity and the point cloud density to the remote management platform, and the remote management platform controls the driving speed of the unmanned vehicle through the structural complexity and/or the point cloud density, so that effective survey data can be acquired in different scenarios.
The following describes in detail the technical solution of the control method of the mapping vehicle provided by the present application with several specific embodiments.
The embodiment of the application provides a control method of a surveying and mapping vehicle, which is applied to surveying and mapping scanning equipment. Fig. 2 is a flowchart of a first embodiment of a method for controlling a mapping vehicle according to the present application, and as shown in fig. 2, the method for controlling the mapping vehicle includes the following steps:
s201: and acquiring point cloud data.
In the step, the surveying and mapping device comprises a laser scanning assembly, the surveying and mapping vehicle is an unmanned vehicle loaded with the surveying and mapping device, and the point cloud data is obtained by scanning of the laser scanning assembly in the driving process of the surveying and mapping vehicle.
Specifically, the remote management platform can issue the survey and drawing task to the survey and drawing car, contains the driving route that the survey and drawing car needs travel in this survey and drawing task, and the survey and drawing car is at the in-process of traveling according to the driving route, and the laser scanning subassembly can carry out the rotation scanning in succession to obtain point cloud data, and survey and drawing data can include point cloud data.
S202: and determining the density of the point cloud according to the point cloud data.
In this step, since the driving speed of the surveying and mapping vehicle can directly affect the point cloud density, the surveying and mapping scanning device can calculate the point cloud density after acquiring the point cloud data, so as to control the driving speed of the surveying and mapping vehicle in real time.
S203: and sending the point cloud density to a remote management platform.
In the step, the remote management platform is used for controlling the driving speed of the mapping vehicle according to the point cloud densities, wherein the point cloud densities corresponding to different driving speeds are different.
Specifically, after the point cloud density is determined, the point cloud density is sent to the remote management platform by the mapping and scanning device, after the point cloud density is obtained, the remote management platform controls the driving speed of the mapping vehicle according to the numerical value of the point cloud density, and when the speed of the mapping vehicle is high, the point cloud density is low, and when the speed of the mapping vehicle is low, the point cloud density is high. When the numerical value of the point cloud density is large, the point cloud density is reduced by controlling the acceleration of the surveying and mapping vehicle, when the numerical value of the point cloud density is small, the point cloud density is increased by controlling the deceleration of the surveying and mapping vehicle, the surveying and mapping vehicle continues to run after acceleration or deceleration, the laser scanning component continues to scan so as to obtain new point cloud data, and the surveying and mapping equipment continues to carry out point cloud calculation on the new point cloud data so as to obtain the new point cloud density until the new point cloud density is within a proper threshold range.
According to the control method of the surveying and mapping vehicle, the point cloud data are determined through the surveying and mapping scanning device, the point cloud data are resolved, the point cloud density is obtained, and then the point cloud density is sent to the remote management platform, so that the remote management platform controls the driving speed of the surveying and mapping vehicle according to the point cloud density, the effectiveness of the obtained point cloud data is guaranteed by controlling the driving speed of the surveying and mapping vehicle, and therefore the effectiveness of the surveying and mapping data can be guaranteed.
In one possible embodiment, determining the point cloud density from the point cloud data comprises: and performing point cloud resolving processing on the point cloud data by adopting a point cloud algorithm to obtain point cloud density.
In the scheme, the point cloud algorithm can be a least square method, a gradient descent method, a RANSAC algorithm, an ICP algorithm, a PCL curved surface clustering segmentation algorithm, a region growing algorithm, an Euclidean clustering algorithm and the like, and the point cloud algorithm can be adopted to carry out point cloud resolving processing on the point cloud data so as to obtain the point cloud density, so that the remote control platform can carry out real-time control on the driving speed of the surveying and mapping vehicle according to the point cloud density sent by the surveying and mapping scanning equipment in real time, and the effectiveness of the point cloud data and the surveying and mapping data is ensured by controlling the driving speed of the surveying and mapping vehicle.
In one possible embodiment, the surveying and mapping apparatus further includes a panoramic camera assembly, and the control method further includes: acquiring panoramic picture data, wherein the panoramic picture data is obtained by shooting a target object by a panoramic shooting component; determining the structural complexity of the target object according to the panoramic picture data; and sending the structural complexity to a remote management platform, wherein the remote management platform is used for controlling the running speed of the mapping vehicle according to the structural complexity, and the structural complexity corresponding to different running speeds is different.
In this aspect, the survey scanning apparatus further includes a panoramic camera assembly. The survey and drawing car is after receiving the survey and drawing task, and the panorama subassembly of making a video recording starts, and the survey and drawing car is at the in-process of traveling according to the route of driving a vehicle, and the panorama subassembly of making a video recording can be taken a picture in succession to the scene that passes through in the route of driving a vehicle, to the target object in the route of driving a vehicle, obtains the panorama picture data of target object to determine the structure complexity of target object. The mapping data may include panoramic picture data.
In the scheme, whether the panoramic picture data obtained by shooting through the panoramic shooting component is effective or not can be determined through the structural complexity of the target object, for example, the structural complexity is high, and the driving speed of the surveying and mapping vehicle can be considered to be high, so that the driving speed of the surveying and mapping vehicle can be properly reduced; the structure complexity is low, and the driving speed of the surveying and mapping vehicle can be considered to be low, so that the driving speed of the withdrawing vehicle can be properly increased. Therefore, after the structural complexity of the target object is obtained, the structural complexity can be sent to the remote management platform, so that the remote management platform can control the running speed of the surveying and mapping vehicle through the structural complexity to guarantee the effectiveness of the acquired point cloud data, and therefore the effectiveness of the surveying and mapping data can be guaranteed.
Optionally, after the point cloud density and the structural complexity are obtained, the surveying and mapping scanning device may further perform preliminary modeling on the target object according to the point cloud density and the structural complexity, and store the point cloud density, the structural complexity, and the preliminary modeling data, so as to control the driving speed of the surveying and mapping vehicle by analyzing and processing the point cloud density, the structural complexity, and the modeling data subsequently.
Optionally, the surveying vehicle continues to travel after acceleration or deceleration, the panoramic camera component continues to shoot to acquire new panoramic picture data, and the surveying and mapping scanning device continues to determine a new structural complexity according to the new panoramic picture data until the new structural complexity is within a suitable threshold range.
In one possible embodiment, determining the structural complexity of the target object according to the panoramic image data includes: denoising the panoramic picture data to obtain denoised picture data; and carrying out image modeling processing on the de-noised picture data to obtain the structural complexity.
In the scheme, in order to improve the accuracy of the structural complexity of the target object, when the structural complexity of the target object is determined according to the panoramic picture data, the panoramic picture data can be denoised firstly, so that unnecessary or redundant interference information in the panoramic picture data is eliminated, the denoised picture data is obtained, then the denoised picture data is modeled, the structural complexity of the target object can be determined, the accuracy of the obtained structural complexity is high, the accuracy of controlling the driving speed of the surveying and mapping vehicle by the remote management platform can be improved, therefore, the effectiveness of the structural complexity can be ensured, and the effectiveness of the surveying and mapping data can be ensured.
The embodiment of the application also provides a control method of the surveying and mapping vehicle, which is applied to a remote management platform. Fig. 3 is a flowchart of a second embodiment of a control method for a surveying vehicle according to the present application, and as shown in fig. 3, the control method for the surveying vehicle includes the following steps:
s301: and receiving the density of the point cloud sent by the mapping scanning equipment.
In the step, the density of the point cloud is determined by the mapping scanning device according to the point cloud data scanned by the laser scanning component in the process that the mapping vehicle runs at the first running speed, the mapping scanning device comprises the laser scanning component, and the mapping vehicle is an unmanned vehicle loaded with the mapping scanning device.
Specifically, after receiving a mapping task issued by a remote management platform, a mapping vehicle runs according to a running route contained in the mapping task, a laser scanning component contained in a mapping scanning device can perform continuous rotation scanning in the running process of the mapping vehicle to obtain point cloud data, the point cloud data is subjected to point cloud resolving processing to obtain point cloud density, and the point cloud density is sent to the remote management platform by the mapping scanning device after the point cloud density is obtained.
S302: and adjusting the first driving speed according to the point cloud density to obtain a second driving speed.
In this step, after receiving the mapping task issued by the remote management platform, the mapping vehicle always runs at a constant speed according to the first running speed, and the point cloud density received by the remote management platform is the point cloud density of the point cloud data when the mapping vehicle runs at the first running speed, so that the remote management platform can adjust the first running speed of the mapping vehicle according to the point cloud density at this time to obtain the second running speed.
S303: and sending the second running speed to the surveying vehicle to control the surveying vehicle to run according to the second running speed.
In this step, the remote management platform may control the mapping vehicle to travel at the second travel speed by transmitting the second travel speed to the mapping vehicle after adjusting the first travel speed of the mapping vehicle to the second travel speed. Compared with the point cloud density of the point cloud data obtained by scanning of the laser scanning component when the surveying and mapping vehicle runs at the first running speed, the point cloud density of the point cloud data obtained by scanning of the laser scanning component is more effective when the surveying and mapping vehicle runs at the second running speed.
According to the control method of the surveying and mapping vehicle, the surveying and mapping scanning device determines the point cloud data, and after the point cloud data is resolved to obtain the point cloud density, the point cloud density is sent to the remote management platform, so that the remote management platform controls the driving speed of the surveying and mapping vehicle according to the point cloud density, the effectiveness of the acquired point cloud data is guaranteed by controlling the driving speed of the surveying and mapping vehicle, and therefore the effectiveness of the surveying and mapping data can be guaranteed.
In one possible embodiment, adjusting the first driving speed according to the point cloud density to obtain a second driving speed includes: if the point cloud density is smaller than a first threshold value, reducing the first driving speed to obtain a second driving speed; if the point cloud density is larger than a second threshold value, increasing the first driving speed to obtain a second driving speed; if the point cloud density is greater than or equal to the first threshold and less than or equal to the second threshold, determining that the second driving speed is the first driving speed; wherein the first threshold is less than the second threshold.
In the scheme, a proper threshold range can be preset for the point cloud density according to the environment where the surveying and mapping vehicle is located when the surveying and mapping vehicle executes the surveying and mapping task, the lower limit value of the threshold range is a first threshold, and the upper limit value is a second threshold.
Specifically, if the point cloud density is within the threshold range, that is, the point cloud density is greater than or equal to the first threshold and less than or equal to the second threshold, the surveying and mapping vehicle is controlled to travel at the original travel speed, and therefore, the first travel speed may not be adjusted.
Specifically, the point cloud density is not within the threshold range, that is, the point cloud density is smaller than a first threshold or larger than a second threshold, if the point cloud density is smaller than the first threshold, it is indicated that the current point cloud density is smaller, and the point cloud density needs to be increased, so that the surveying and mapping vehicle needs to be decelerated properly, that is, the first driving speed needs to be reduced to obtain a second driving speed; if the point cloud density is greater than the second threshold value, it indicates that the current point cloud density is greater and the point cloud density needs to be reduced, so that the surveying and mapping vehicle needs to be properly accelerated, that is, the first driving speed is increased to obtain the second driving speed.
Optionally, too high driving speed of the surveying and mapping vehicle may cause the point cloud density of the point cloud data to be small, and the point cloud data at this time is not beneficial to building a building model; the driving speed of the surveying and mapping vehicle is too low, so that the point cloud density of the point cloud data is large, the point cloud data is too large, storage resources and processing resources are wasted, the first driving speed of the surveying and mapping vehicle is adjusted through the point cloud density, the validity of the point cloud data can be guaranteed, accurate building of a building model can be guaranteed, and the storage resources and the processing resources can be saved.
In one possible embodiment, the method further comprises: receiving the structural complexity of a target object sent by a mapping and scanning device, wherein the structural complexity is determined by the mapping and scanning device according to panoramic picture data obtained by shooting the target object by a panoramic shooting component, and the mapping and scanning device comprises the panoramic shooting component; and adjusting the first running speed according to the structural complexity to obtain a third running speed.
In this solution, the remote management platform may adjust the first traveling speed of the mapping vehicle by the structural complexity of the target object in addition to adjusting the first traveling speed of the mapping vehicle by the point cloud density of the point cloud data.
In particular, the structural complexity of the target object may be used to determine the validity of the panoramic picture data corresponding to the target object. The environment that the survey and drawing car was located when carrying out the survey and drawing task is definite, consequently, can be to a suitable threshold value scope of the structure complexity predetermined of target object, when the speed of travel of survey and drawing car is very fast, the structure complexity of target object is great, when the speed of travel of survey and drawing car is slow, the structure complexity of target object is less, thereby, the speed of travel of survey and drawing car can be adjusted through the structure complexity of target object, can guarantee that the survey and drawing car travels according to suitable speed of travel, just so can obtain effectual point cloud data, thereby show the validity that improves the survey and drawing data.
In one possible embodiment, the adjusting of the first travel speed to obtain the third travel speed according to the structural complexity comprises: if the structural complexity is greater than or equal to a third threshold and less than or equal to a fourth threshold, adjusting the first running speed according to the point cloud density to obtain a third running speed, wherein the third threshold is less than the fourth threshold; if the structural complexity is smaller than a third threshold value, increasing the first running speed to obtain a third running speed; and if the structural complexity is greater than a fourth threshold value, reducing the first running speed to obtain a third running speed.
In the scheme, a proper threshold range can be preset for the structural complexity according to the environment where the mapping vehicle executes the mapping task, the lower limit value of the threshold range is a third threshold, and the upper limit value of the threshold range is a fourth threshold. The driving speed of the surveying and mapping vehicle can be adjusted independently through the structural complexity, and the driving speed of the surveying and mapping vehicle can also be adjusted simultaneously through the point cloud density and the structural complexity.
Specifically, the structural complexity is within the threshold range, that is, the structural complexity is greater than or equal to the third threshold and less than or equal to the fourth threshold, at this time, in order to improve the accuracy of adjusting the driving speed of the surveying vehicle, the third driving speed may be obtained by the method for adjusting the first driving speed according to the point cloud density. Optionally, when the structural complexity is within the threshold range, the surveying and mapping vehicle may be directly controlled to continue to travel at the first travel speed without adjusting the first travel speed through the point cloud density.
Specifically, the structural complexity is not within the threshold range, that is, the structural complexity is smaller than a third threshold or larger than a fourth threshold, and if the structural complexity is smaller than the third threshold, it indicates that the current structural complexity is smaller and needs to be increased, so that the surveying and mapping vehicle needs to be accelerated properly, that is, the first running speed needs to be increased to obtain a third running speed; if the structural complexity is greater than the fourth threshold, it indicates that the structural complexity is greater and needs to be reduced, and therefore, the mapping vehicle needs to be decelerated appropriately, that is, the first traveling speed needs to be reduced to obtain the third traveling speed.
Alternatively, the surveying and mapping vehicle runs at too high a speed, which results in too high structural complexity; the speed of traveling of survey and drawing car is too slow, can lead to the structure complexity to hang down excessively, consequently adjusts the speed of traveling of survey and drawing car through the structure complexity, can guarantee that the survey and drawing car travels according to suitable speed of traveling, just so can obtain effectual point cloud data to show the validity that improves the survey and drawing data.
Alternatively, after the mapping vehicle performs the mapping task, the remote management platform may control all devices, modules, components, etc. of the mapping vehicle to be turned off.
The technical scheme that this application provided, according to real-time dynamic point cloud data and structure complexity, the speed of a motor vehicle is surveyed to the intelligent regulation to survey and drawing car only need carry out a survey and drawing task, the point cloud data that need use when can enough modeling the building promptly also can effectually avoid the waste of storage resource and processing resource, can also save the operating time that survey and drawing car carried out the task effectively.
In general, the technical scheme provided by the application can ensure the validity of the mapping data and effectively avoid the waste of storage resources and processing resources.
The present application further provides a control system for a mapping vehicle that may include a mapping vehicle and a server deployed with a remote management platform.
This application still provides a controlling means of survey and drawing car, is applied to survey and drawing scanning equipment, and survey and drawing scanning equipment includes laser scanning subassembly, and the survey and drawing car is for loading unmanned car that has survey and drawing scanning equipment. Fig. 4 is a schematic structural diagram of a first embodiment of a control device of a mapping vehicle according to the present application, and as shown in fig. 4, the control device 400 of the mapping vehicle includes:
the acquisition module 401 is configured to acquire point cloud data, where the point cloud data is obtained by scanning a laser scanning component during the driving process of the mapping vehicle;
a point cloud calculating module 402, configured to determine a point cloud density according to the point cloud data;
and the sending module 403 is configured to send the point cloud density to a remote management platform, and the remote management platform is configured to control the driving speed of the mapping vehicle according to the point cloud density, where the point cloud densities corresponding to different driving speeds are different.
Optionally, the point cloud calculating module 402 is specifically configured to, when determining the point cloud density according to the point cloud data: and performing point cloud resolving processing on the point cloud data by adopting a point cloud algorithm to obtain point cloud density.
Optionally, the surveying and mapping apparatus further comprises a panoramic camera assembly, and the control device 400 of the surveying and mapping vehicle further comprises a processing module (not shown), which is specifically configured to: acquiring panoramic picture data, wherein the panoramic picture data is obtained by shooting a target object by a panoramic shooting component; determining the structural complexity of the target object according to the panoramic picture data; and sending the structural complexity to a remote management platform, wherein the remote management platform is used for controlling the running speed of the mapping vehicle according to the structural complexity, and the structural complexity corresponding to different running speeds is different.
Optionally, when determining the structural complexity of the target object according to the panoramic image data, the processing module is specifically configured to: denoising the panoramic picture data to obtain denoised picture data; and carrying out image modeling processing on the de-noised picture data to obtain the structural complexity.
The control device of the mapping vehicle is used for executing the technical scheme provided by the embodiment of the control method of the mapping vehicle applied to the mapping scanning device, and the implementation principle and the technical effect of the control device are similar to those of the embodiment of the method, which are not described again here.
The application also provides a control device of the surveying and mapping vehicle, which is applied to a remote management platform. Fig. 5 is a schematic structural diagram of a second embodiment of a control device of a surveying vehicle according to an embodiment of the present application, and as shown in fig. 5, the control device 500 of the surveying vehicle includes:
the receiving module 501 is configured to receive a point cloud density sent by a surveying and mapping scanning device, where the point cloud density is determined by the surveying and mapping scanning device according to point cloud data obtained by scanning with a laser scanning component during a process that the surveying and mapping vehicle travels at a first travel speed, the surveying and mapping device includes the laser scanning component, and the surveying and mapping vehicle is an unmanned vehicle loaded with the surveying and mapping scanning device;
an adjusting module 502, configured to adjust the first driving speed according to the point cloud density to obtain a second driving speed;
a sending module 503, configured to send the second traveling speed to the mapping vehicle, so as to control the mapping vehicle to travel according to the second traveling speed.
Optionally, the adjusting module 502 is specifically configured to, when adjusting the first driving speed according to the point cloud density to obtain a second driving speed: if the point cloud density is smaller than a first threshold value, reducing the first driving speed to obtain a second driving speed; if the point cloud density is larger than a second threshold value, increasing the first driving speed to obtain a second driving speed; if the point cloud density is greater than or equal to the first threshold and less than or equal to the second threshold, determining that the second driving speed is the first driving speed; wherein the first threshold is less than the second threshold.
Optionally, the control device 500 of the mapping vehicle further comprises a processing module (not shown), which is specifically configured to: receiving the structural complexity of a target object sent by a mapping and scanning device, wherein the structural complexity is determined by the mapping and scanning device according to panoramic picture data obtained by shooting the target object by a panoramic shooting component, and the mapping and scanning device comprises the panoramic shooting component; and adjusting the first running speed according to the structural complexity to obtain a third running speed.
Optionally, the processing module is configured to, when the first traveling speed is adjusted according to the structural complexity to obtain a third traveling speed, specifically: if the structural complexity is greater than or equal to a third threshold and less than or equal to a fourth threshold, adjusting the first running speed according to the point cloud density to obtain a third running speed, wherein the third threshold is less than the fourth threshold; if the structural complexity is smaller than a third threshold value, increasing the first running speed to obtain a third running speed; and if the structural complexity is greater than a fourth threshold value, reducing the first running speed to obtain a third running speed.
The control device of the surveying and mapping vehicle is used for executing the technical scheme provided by the control method embodiment of the surveying and mapping vehicle applied to the remote management platform, and the implementation principle and the technical effect of the control device are similar to those of the control method embodiment, and are not repeated herein.
The embodiment of the application also provides mapping and scanning equipment. FIG. 6 is a block diagram illustrating a scanning mapping device in accordance with an exemplary embodiment.
The processing component 602 generally controls the overall operation of the scanning mapping device 600, such as operations related to scanning, photographing, point cloud resolution, data communication, and the like. The processing component 602 may include one or more processors 620 to execute computer-executable instructions to perform all or a portion of the steps of the mapping vehicle control method described above. Further, the processing component 602 can include one or more modules that facilitate interaction between the processing component 602 and other components. For example, the processing component 602 can include a multimedia module to facilitate interaction between the multimedia component 608 and the processing component 602.
The memory 604 is configured to store various types of data to support operations at the scanning mapping device 600, the memory 604 communicatively coupled with the processing component 602. Examples of such data include instructions, data, etc. for any application or method operating on the scanning mapping device 600. The Memory 604 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random-Access Memory (SRAM), electrically-Erasable Programmable Read-Only Memory (EEPROM), erasable Programmable Read-Only Memory (EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk.
A power supply component 606 provides power to the various components of the scanning mapping device 600. The power components 606 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the scanning mapping device 600.
The multimedia component 608 includes a screen that provides an output interface between the scanning mapping device 600 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.
The audio component 610 is configured to output and/or input audio signals. For example, the audio component 610 includes a Microphone (MIC), and when the scanning surveying device 600 is in an operation mode, such as a voice output mode, the speaker is configured to output an audio signal to the outside, wherein the audio signal may include information related to the size of the point cloud density and/or the size of the structural complexity.
The I/O interface 612 provides an interface between the processing component 602 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a volume button, a start button, and a lock button.
The sensor component 614 includes one or more sensors for providing various aspects of status assessment for the scanning mapping device 600. For example, the sensor component 614 may detect an open/closed state of the scanning mapping device 600, the relative positioning of components, such as a display and keypad of the scanning mapping device 600, and the like, the sensor component 614 may also detect a change in position of the scanning mapping device 600 or a component of the scanning mapping device 600, the presence or absence of user contact with the scanning mapping device 600.
The communication component 616 is configured to facilitate wired or wireless communication between the scanning mapping device 600 and other devices. The scanning mapping device 600 may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 616 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the Communication component 616 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared Data Association (IrDA) technology, ultra Wide Band (UWB) technology, bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the scanning and mapping Device 600 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described control method applied to a mapping vehicle of a mapping and scanning Device.
The application also provides a server, which can be deployed with the remote management platform. FIG. 7 is a block diagram illustrating a server in accordance with an example embodiment. As shown in fig. 7, the server 700 includes a processing component 701 that further includes one or more processors and memory resources, represented by memory 702, for storing computer-executable instructions, such as application programs, that are executable by the processing component 701. The application stored in memory 702 may include one or more modules each corresponding to a set of instructions, with processing component 701 communicatively coupled to memory 702. Furthermore, the processing component 701 is configured to execute computer-executable instructions to implement the above-described solution applied to the control method of the mapping vehicle of the remote management platform.
The server 700 may also include a power component 703 configured to perform power management of the server 700, a wired or wireless network interface 704 configured to connect the server 700 to a network, and an input-output interface 705, which input-output interface 705 may also be referred to as an I/O interface 705. The server 700 may operate based on an operating system stored in memory 702, such as Windows Server, mac OS XTM, unixTM, linuxTM, freeBSDTM, or the like.
Alternatively, the Memory may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory is used for storing programs, and the processor executes the programs after receiving the execution instructions. Further, the software programs and modules within the aforementioned memories may also include an operating system, which may include various software components and/or drivers for managing system tasks (e.g., memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.
Alternatively, the processor may be an integrated circuit chip having signal processing capabilities. The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The embodiment of the application further provides a computer-readable storage medium, in which computer-executable instructions are stored, and the computer-executable instructions are executed by a processor to implement the technical solution of the control method for the mapping vehicle provided in the foregoing method embodiment.
The embodiment of the present application further provides a computer program product, which includes a computer program, and the computer program is used for implementing the technical solution of the control method for a mapping vehicle provided in the foregoing method embodiment when being executed by a processor.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The foregoing is only a preferred embodiment of the present application and it should be noted that, as will be apparent to those skilled in the art, numerous modifications and adaptations can be made without departing from the principles of the present application and such modifications and adaptations are intended to be considered within the scope of the present application.
Claims (14)
1. A control method of a surveying vehicle, which is applied to a surveying and mapping apparatus including a laser scanning assembly, the surveying vehicle being an unmanned vehicle loaded with the surveying and mapping apparatus, the control method comprising:
acquiring point cloud data, wherein the point cloud data are obtained by scanning of the laser scanning component in the driving process of the surveying and mapping vehicle;
determining point cloud density according to the point cloud data;
and sending the point cloud density to a remote management platform, wherein the remote management platform is used for controlling the driving speed of the surveying and mapping vehicle according to the point cloud density, and the point cloud densities corresponding to different driving speeds are different.
2. The control method of claim 1, wherein determining the point cloud density from the point cloud data comprises:
and performing point cloud resolving processing on the point cloud data by adopting a point cloud algorithm to obtain the point cloud density.
3. The control method according to claim 1 or 2, wherein the survey scanning apparatus further includes a panoramic camera assembly, the control method further comprising:
acquiring panoramic picture data, wherein the panoramic picture data is obtained by shooting a target object by the panoramic shooting component;
determining the structural complexity of the target object according to the panoramic picture data;
and sending the structural complexity to a remote management platform, wherein the remote management platform is used for controlling the running speed of the mapping vehicle according to the structural complexity, and the structural complexity corresponding to different running speeds is different.
4. The control method according to claim 3, wherein the determining the structural complexity of the target object from the panoramic image data includes:
denoising the panoramic picture data to obtain denoised picture data;
and carrying out image modeling processing on the de-noised picture data to obtain the structural complexity.
5. A control method of a mapping vehicle is applied to a remote management platform and comprises the following steps:
receiving point cloud density sent by a mapping scanning device, wherein the point cloud density is determined by the mapping scanning device according to point cloud data obtained by scanning of a laser scanning component in the process that a mapping vehicle runs at a first running speed, the mapping scanning device comprises the laser scanning component, and the mapping vehicle is an unmanned vehicle loaded with the mapping scanning device;
adjusting the first driving speed according to the point cloud density to obtain a second driving speed; and sending the second running speed to the surveying vehicle to control the surveying vehicle to run according to the second running speed.
6. The control method of claim 5, wherein the adjusting the first travel speed according to the point cloud density to obtain a second travel speed comprises:
if the point cloud density is smaller than a first threshold value, reducing the first driving speed to obtain a second driving speed;
if the point cloud density is larger than a second threshold value, increasing the first driving speed to obtain a second driving speed;
if the point cloud density is greater than or equal to the first threshold value and less than or equal to the second threshold value, determining that the second driving speed is the first driving speed;
wherein the first threshold is less than the second threshold.
7. The control method according to claim 5 or 6, characterized by further comprising:
receiving the structural complexity of a target object sent by the mapping and scanning device, wherein the structural complexity is determined by the mapping and scanning device according to panoramic picture data obtained by shooting the target object by a panoramic shooting component, and the mapping and scanning device comprises the panoramic shooting component;
and adjusting the first running speed according to the structural complexity to obtain a third running speed.
8. The control method of claim 7, wherein adjusting the first travel speed to obtain the third travel speed based on the structural complexity comprises:
if the structural complexity is greater than or equal to a third threshold and less than or equal to a fourth threshold, adjusting the first running speed according to the point cloud density to obtain a third running speed, wherein the third threshold is less than the fourth threshold;
if the structural complexity is smaller than the third threshold, increasing the first running speed to obtain a third running speed;
and if the structural complexity is greater than the fourth threshold, reducing the first running speed to obtain the third running speed.
9. A control device of a surveying and mapping vehicle, applied to a surveying and mapping apparatus including a laser scanning assembly, the surveying and mapping vehicle being an unmanned vehicle loaded with the surveying and mapping apparatus, the control device comprising:
the acquisition module is used for acquiring point cloud data, and the point cloud data is obtained by scanning the laser scanning component in the driving process of the surveying and mapping vehicle;
the point cloud calculating module is used for determining point cloud density according to the point cloud data;
the sending module is used for sending the point cloud density to a remote management platform, and the remote management platform is used for controlling the driving speed of the mapping vehicle according to the point cloud density, wherein the point cloud densities corresponding to different driving speeds are different.
10. A control device of a surveying and mapping vehicle, which is applied to a remote management platform, the control device comprises:
the system comprises a receiving module, a scanning module and a control module, wherein the receiving module is used for receiving the point cloud density sent by a mapping scanning device, the point cloud density is determined by the mapping scanning device according to point cloud data obtained by scanning of a laser scanning component in the process that a mapping vehicle runs at a first running speed, the mapping scanning device comprises the laser scanning component, and the mapping vehicle is an unmanned vehicle loaded with the mapping scanning device;
the adjusting module is used for adjusting the first driving speed according to the point cloud density to obtain a second driving speed;
and the sending module is used for sending the second running speed to the mapping vehicle so as to control the mapping vehicle to run according to the second running speed.
11. A survey scanning apparatus, comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes the computer-executable instructions stored in the memory to implement the method of controlling a mapping vehicle of any of claims 1-4.
12. A server, comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored in the memory to implement the method of controlling a mapping vehicle of any of claims 5-8.
13. A computer-readable storage medium having computer-executable instructions stored thereon, wherein the computer-executable instructions, when executed by a processor, are configured to implement the method of controlling a mapping vehicle according to any of claims 1 to 8.
14. A computer program product, characterized in that it comprises a computer program which, when being executed by a processor, is adapted to carry out the method of controlling a mapping vehicle according to any of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211372671.1A CN115903587A (en) | 2022-11-03 | 2022-11-03 | Control method, device and equipment of surveying and mapping vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211372671.1A CN115903587A (en) | 2022-11-03 | 2022-11-03 | Control method, device and equipment of surveying and mapping vehicle and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115903587A true CN115903587A (en) | 2023-04-04 |
Family
ID=86492647
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211372671.1A Pending CN115903587A (en) | 2022-11-03 | 2022-11-03 | Control method, device and equipment of surveying and mapping vehicle and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115903587A (en) |
-
2022
- 2022-11-03 CN CN202211372671.1A patent/CN115903587A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3627180B1 (en) | Sensor calibration method and device, computer device, medium, and vehicle | |
| US10509412B2 (en) | Movable body control system | |
| CN113561963B (en) | Parking method and device and vehicle | |
| JPWO2019230474A1 (en) | Road sign detection method, non-temporary computer-readable medium and road sign detection system | |
| CN109947103B (en) | Unmanned control method, device and system and bearing equipment | |
| WO2022105395A1 (en) | Data processing method, apparatus, and system, computer device, and non-transitory storage medium | |
| CN110751336B (en) | Obstacle avoidance method and obstacle avoidance device of unmanned carrier and unmanned carrier | |
| JP2022013929A (en) | Positioning method, apparatus, medium, and device | |
| US11363212B2 (en) | Exposure control device, exposure control method, program, imaging device, and mobile body | |
| US11982773B2 (en) | Lidar sensor validation | |
| US11482007B2 (en) | Event-based vehicle pose estimation using monochromatic imaging | |
| CN108961749A (en) | Intelligent traffic system and intelligent traffic control method | |
| US20230333229A1 (en) | Sensor triggering based on sensor simulation | |
| CN114212108B (en) | Automatic driving method, device, vehicle, storage medium and product | |
| CN112874511B (en) | Automatic driving control method and device for automobile and computer storage medium | |
| CN113561970A (en) | Method, device, equipment and storage medium for determining initial parking position information | |
| CN115903587A (en) | Control method, device and equipment of surveying and mapping vehicle and storage medium | |
| CN115164910B (en) | Travel route generation method, travel route generation device, vehicle, storage medium, and chip | |
| US20200005806A1 (en) | Call quality improvement system, apparatus and method | |
| CN114701486A (en) | Control method and device for unmanned vehicle | |
| CN115223122A (en) | Method and device for determining three-dimensional information of object, vehicle and storage medium | |
| CN115170630A (en) | Map generation method, map generation device, electronic device, vehicle, and storage medium | |
| CN110244710B (en) | Automatic tracing method, device, storage medium and electronic equipment | |
| CN114511834A (en) | Method and device for determining prompt information, electronic equipment and storage medium | |
| CN114842454B (en) | Obstacle detection method, device, equipment, storage medium, chip and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |