CN117434932A

CN117434932A - Operation method, device, equipment and storage medium of scribing robot

Info

Publication number: CN117434932A
Application number: CN202210810400.3A
Authority: CN
Inventors: 张海泉; 李飞; 王东玉; 张宏瑜
Original assignee: Huaiyuan County Lidi Transportation Facilities Co ltd; Qianxun Spatial Intelligence Inc
Current assignee: Huaiyuan County Lidi Transportation Facilities Co ltd; Qianxun Spatial Intelligence Inc
Priority date: 2022-07-11
Filing date: 2022-07-11
Publication date: 2024-01-23

Abstract

The application discloses a scribing robot operation method, a scribing robot operation device, scribing robot operation equipment and a storage medium, wherein the scribing robot operation method comprises the following steps: after receiving the marker drawing request, traversing the target area to obtain a point cloud map of the target area; superposing an original operation diagram of the target area and a point cloud map to generate a marking operation diagram, wherein marking operation diagrams record all the objects to be marked in the original operation diagram and marking positions corresponding to all the objects to be marked in the point cloud map; and reading the marking operation diagram to determine a target position mapped by the marking position in the target area, and drawing the to-be-marked object corresponding to the marking position in the target position. The pavement marker construction method and device can solve the technical problem that pavement markers in the related technology are complex in construction operation.

Description

Operation method, device, equipment and storage medium of scribing robot

Technical Field

The application belongs to the technical field of engineering operation, and particularly relates to an operation method, an operation device and a computer readable storage medium of a scribing robot.

Background

When the road is constructed, the method mainly comprises two steps of road surface construction and road traffic marking construction. The road traffic marking construction comprises road lane lines and road marking construction such as guide arrows, speed limit identifiers and the like.

In the construction of pavement markers, a template method is generally used, and specifically, a truck provided with a marking material processing device is used to repeatedly spray a hollowed-out region in a template. However, the construction mode of the pavement marker is realized by using the template method, a constructor is required to put the template at a pre-marked position in advance, and the template is required to be taken down after the spraying is finished, so that the operation is complicated.

Disclosure of Invention

The embodiment of the application provides an operation method, device and equipment of a scribing robot and a computer readable storage medium, so as to solve the technical problem of complicated construction operation of pavement markers in the related technology.

In one aspect, an embodiment of the present application provides a method for operating a scribing robot, including:

after receiving the marker drawing request, traversing the target area to obtain a point cloud map of the target area;

superposing an original operation diagram of the target area and a point cloud map to generate a marking operation diagram, wherein marking operation diagrams record all the objects to be marked in the original operation diagram and marking positions corresponding to all the objects to be marked in the point cloud map;

and reading the marking operation diagram to determine a target position mapped by the marking position in the target area, and drawing the to-be-marked object corresponding to the marking position in the target position.

The marking robot performs operation according to the marking position of the to-be-marked object in the marking operation diagram, the marking operation diagram is obtained by superposing an original operation diagram of the target area and a point cloud map obtained through traversing, so that the marker can be finally drawn at a pre-planned position without using a template method, the accurate drawing of the marker is realized, the technical problem of complicated construction operation of the pavement marker in the related art is solved, the operation of taking down a template is omitted, and the quality of the marker drawn by the target area is higher.

Optionally, superimposing the original operation map of the target area with the point cloud map to generate a marking operation map, including:

determining a first characteristic point and a second characteristic point, wherein the first characteristic point is positioned in a point cloud map, the second characteristic point is positioned in an original operation map, and the first characteristic point and the second characteristic point are mutually same-name characteristic points;

affine transformation is carried out on the original operation map through the first characteristic points and the second characteristic points which are the same-name characteristic points to obtain a target image corresponding to the point cloud map;

acquiring longitude and latitude of each point in the target image in a corresponding point cloud map, wherein each point comprises points forming each to-be-marked object;

And recording the longitude and latitude of the points forming each to-be-marked object as the marking position of each to-be-marked object in the target image, and outputting the target image as a marking operation chart.

Therefore, when the follow-up scribing robot works, the position pattern of each longitude and latitude can be accurately known, and the accurate work of the pavement marker is realized.

Optionally, after recording the longitude and latitude of the point constituting each of the to-be-marked objects as the marking position of each of the to-be-marked objects in the target image, the method further includes:

calculating an error value between the target image and a satellite map of the target area according to the longitude and latitude of each point in the corresponding point cloud map;

when the error value is smaller than the error threshold value, executing the steps of: and outputting the target image as a marked line operation chart.

In the embodiment, the satellite map of the target area is obtained through longitude and latitude, and then error value verification is carried out on each point on the satellite map and the target image, so that the alignment of the point cloud map and the original operation map is realized, the accuracy of the marking operation map can be improved, and the marker obtained through subsequent drawing is guaranteed to be at the expected position.

Optionally, affine transformation is performed on the original job graph through a first feature point and a second feature point which are feature points with the same name, so as to obtain a target image corresponding to the point cloud map, which comprises the following steps:

Calculating an affine transformation matrix from the original operation map to the point cloud map through a first characteristic point and a second characteristic point which are the same-name characteristic points;

and carrying out affine transformation on the original operation map through the affine transformation matrix to obtain a target image corresponding to the point cloud map.

In the example, the affine transformation matrix is obtained through the homonymous feature points, affine transformation is further carried out, and a target image consistent with the size, proportion and position of the original operation chart can be obtained, so that the accuracy of the marking operation chart obtained through subsequent superposition is ensured.

Optionally, the scribing robot comprises a positioning module, a scanning module and a driving mechanism;

traversing the target area to obtain a point cloud map of the target area, comprising:

the driving mechanism is controlled to traverse the target area, so that the scanning module and the positioning module are respectively controlled to correspondingly perform laser scanning and positioning on the target area in the traversing process, initial point cloud data and positioning data are correspondingly obtained, and the positioning data comprise longitude, latitude and heading;

and generating a point cloud map of the target area according to the initial point cloud data and the positioning data.

The method and the device provide an alternative scheme for generating the point cloud map of the target area, so that the finally obtained point cloud map can comprise point cloud data, longitude and latitude and heading, and the accurate drawing of the pavement marker is facilitated.

Optionally, generating a point cloud map of the target area according to the initial point cloud data and the positioning data includes:

downsampling the initial point cloud data, and removing abnormal noise points in the initial point cloud data to obtain intermediate point cloud data;

synthesizing the intermediate point cloud data and the positioning data to obtain final point cloud data;

performing frame-by-frame matching on the final point cloud data through a laser odometer to obtain a rotation translation matrix corresponding to the final point cloud data;

and obtaining a point cloud map of the target area through the final point cloud data and the corresponding rotation and translation matrix.

The method and the device are beneficial to improving the accuracy of point cloud data and the data processing speed through a series of processes such as downsampling and eliminating abnormal noise points. Meanwhile, an optional generation scheme of the point cloud map is provided through operations such as synthesis processing, frame-by-frame matching of a laser odometer and the like.

Optionally, reading the reticle job graph to determine a target location of the marker location map at the target area includes:

reading the marking positions corresponding to the to-be-marked objects in the marking operation chart;

generating an operation sequence according to the marking positions corresponding to the to-be-marked objects in the marking operation chart and the current position of the marking robot, wherein the operation sequence records the drawing sequence of the to-be-marked objects;

And sequentially determining each target position in the target area according to the operation sequence.

According to the embodiment, the situation that a plurality of to-be-marked objects exist is considered, a corresponding operation sequence is generated, the target positions are determined one by one according to the corresponding operation sequence, an optional drawing method of the pavement marking objects is provided, and a technical basis is provided for operation of the marking robot on the pavement marking objects.

In another aspect, an embodiment of the present application provides a working device of a scribing robot, including:

the map generation module is used for traversing the target area after receiving the marker drawing request to obtain a point cloud map of the target area;

the superposition module is used for superposing the original operation diagram of the target area and the point cloud map to generate a marking operation diagram, wherein the marking operation diagram records all the objects to be marked in the original operation diagram and the marking positions corresponding to the objects to be marked in the point cloud map;

and the drawing module is used for reading the marking operation chart so as to determine a target position mapped by the marking position in the target area and drawing the to-be-marked object corresponding to the marking position in the target position.

In still another aspect, an embodiment of the present application provides a working apparatus of a scribing robot, including:

A processor and a memory storing computer program instructions;

the processor executes the computer program instructions to implement the steps of the working method of the scribing robot of the above aspect.

In yet another aspect, embodiments of the present application provide a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the steps of the method of operating a streaking robot of the above aspect.

In yet another aspect, embodiments of the present application provide a computer program product comprising a computer program which, when executed by a processor, implements the steps of the work method of the scribing robot of the above aspect.

According to the operation method, the operation device, the operation equipment and the computer readable storage medium of the scribing robot, after a marker drawing request is received, a target area is traversed, and a point cloud map of the target area is obtained; superposing an original operation diagram of the target area and a point cloud map to generate a marking operation diagram, wherein marking operation diagrams record all the objects to be marked in the original operation diagram and marking positions corresponding to all the objects to be marked in the point cloud map; and reading the marking operation diagram to determine a target position mapped by the marking position in the target area, and drawing the to-be-marked object corresponding to the marking position in the target position. The marking robot performs operation according to the marking position of the to-be-marked object in the marking operation diagram, the marking operation diagram is obtained by superposing an original operation diagram of the target area and a point cloud map obtained through traversing, so that the marker can be finally drawn at a pre-planned position without using a template method, the accurate drawing of the marker is realized, the technical problem of complicated construction operation of the pavement marker in the related art is solved, the operation of taking down a template is omitted, and the quality of the marker drawn by the target area is higher.

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 of the present application will be briefly described, and it is possible for a person skilled in the art to obtain other drawings according to these drawings without inventive effort.

FIG. 1 is a schematic perspective view of an alternative scribing robot according to an embodiment of the present application;

FIG. 2 is a side view of the streaking robot of FIG. 1;

FIG. 3 is a schematic view of an internal perspective alternative construction of the scribing robot of FIG. 1 with the housing removed;

FIG. 4 is an alternative flow diagram of a method of operation of the streaking robot of one embodiment of the present application;

fig. 5 is a schematic diagram of an optional point cloud map obtained by traversing an intersection by the streaking robot according to the embodiment of the present application;

FIG. 6 is an alternative schematic diagram of the target image superimposed with the satellite map when calculating the error value;

FIG. 7 is a sequence diagram of the operation of the markers when the target area is an intersection;

FIG. 8 is a schematic diagram of the scribing robot of FIG. 1 performing raw material spraying;

FIG. 9 is a schematic view of an alternative distribution of pavement lane lines involved in a method of operation of the marking robot of one embodiment of the present application;

Fig. 10 is a schematic diagram of an alternative process of a single lane line drawing job involved in a working method of the scribing robot according to an embodiment of the present application.

Fig. 11 is a schematic structural view of a working device of a scribing robot according to another embodiment of the present application;

fig. 12 is a schematic structural view of a working device of the scribing robot according to still another embodiment of the present application.

In the drawings of which there are shown,

chassis 10, chassis frame 11, front wheel assembly 12, rear wheel assembly 13, front wheel 121, rear wheel 131, housing 20, support assembly 30, bottom support structure 31, first support 32, second support 33, positioning and orientation assembly 40, lidar system 41, antenna 43, controller 50, scribe assembly 60, rail 61, slider 62, spray head 63, and stock containment assembly 70.

Detailed Description

Features and exemplary embodiments of various aspects of the present application are described in detail below to make the objects, technical solutions and advantages of the present application more apparent, and to further describe the present application in conjunction with the accompanying drawings and the detailed embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative of the application and are not intended to be limiting. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by showing examples of the present application.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

In the current road construction, road pavement construction is generally completed first, and then road traffic marking construction is performed on the paved road.

The road traffic mark is a traffic safety facility formed from various lines, arrows, characters, elevation marks, raised road marks and outline marks which are marked on the road surface, and its function is to control and guide traffic, and can be matched with the mark for use, and also can be used alone.

According to the regulations of the current national standard road traffic sign and marking (GB 5768-1999), the current road traffic marking in China can be divided into three types of indication marking, forbidden marking and warning marking according to the function types, wherein the line width of the indication marking is 10-20cm, the line width of the forbidden marking is generally not less than 20cm, and the line width of the warning marking is 15cm.

Because the road traffic marking is mainly marked on the road surface, the road traffic marking needs to be subjected to sun, rain, wind, snow and ice, and can also be subjected to impact abrasion of vehicles, the performance of the road traffic marking is strictly required.

In the embodiment of the application, the road traffic marking construction can be divided according to the construction mode, namely the road lane line construction and the road marker construction (including the indication marking construction, the prohibition marking construction and the like).

The road lane line construction in the related art mainly comprises two steps, wherein the first step is to manually measure the road edge distance, and then draw equidistant white slender reference lines according to drawings, wherein the reference lines usually use white emulsion paint as a drawing raw material, two people are responsible for dragging and stretching a marking rope, and one person is responsible for drawing the reference lines. And the second step is to erect the marking material processing device in a truck carriage, slowly walk along a reference line by a truck, and uniformly spray the marking material on the road surface.

The construction of pavement markers such as guide arrows, speed limit identifiers, ground characters and the like usually uses a template method, wherein a hollowed template or other plate-shaped shielding objects are placed on the ground, so that a truck provided with a marking material processing device is controlled to be erected, and the truck is repeatedly surrounded in the area of the template, so that marking material can be repeatedly sprayed in the hollowed area of the template.

However, the construction method has the following technical problems:

1. in the construction operation of the road surface lane lines, the drawing effect of the subsequent lane lines is seriously influenced by the accuracy of the reference line drawing. However, in the current construction mode, three persons are required to draw reference lines in combination. Therefore, the effect of drawing the lane lines is determined by the multi-party cooperation and proficiency of construction operators, the reliability is poor, and large construction errors are likely to occur.

2. The operation mode of constructing the pavement marker is realized by using the template method, a constructor is required to put the template at a position marked in advance, and the template is required to be taken down after the spraying is finished, so that the operation is complex.

3. The construction work using the template method also requires the operation of removing the template after the marking material is cooled. During this process, if the template is removed too early, it is likely to cause the reticle material to wet out. If the template is removed too late, the template edge may adhere to the painted pavement marker edge, causing chipping or chipping of the paint at the painted pavement marker edge, thereby severely affecting the quality of the pavement marker.

In order to solve at least one of the above-mentioned technical problems, the present application proposes a marking robot (or referred to as a marking robot), and an entirely new working mode based on the marking robot, which comprises a road lane line construction mode and a road marker construction mode. The pavement marker construction mode at least relates to an operation method, an operation device and an operation storage medium of the marking robot, and the operation method, the device, the operation storage medium and the operation storage medium of the marking robot are described in detail with reference to the accompanying drawings.

Referring to fig. 1 to 3, fig. 1 is a schematic view showing an alternative structure of a scribing robot according to an embodiment of the present application, fig. 2 is a side view of the scribing robot of fig. 1, and fig. 3 is a schematic view showing an internal structure of the scribing robot of fig. 1 after a housing is removed.

The marking robot for road marking may include a chassis 10, a housing 20, a positioning and orientation assembly 40, a marking assembly 60, and a support assembly 30, a controller 50, and a stock containment assembly 70 disposed within the housing 20, among others.

The chassis 10 is movable, and the chassis 10 may be moved by tracks, for example. Alternatively, the chassis 10 may include a chassis frame 11, front and rear wheel assemblies 12 and 13 engaged with the chassis frame 11, and a driving mechanism (not shown) driving the rear and/or front wheel assemblies 13 and 12 to move.

Wherein the front wheel assembly 12 may include at least two front wheels 121, and a front wheel propeller shaft assembled with the front wheels 121. The rear wheel assembly 13 may include at least two rear wheels 131, and a rear wheel drive shaft assembled with the rear wheels 131. At least two front wheels 121 can also carry at least two sets of strong torsion spring suspension systems, and the setting of cooperation rear wheel subassembly 13 can cushion the impact that causes because of road surface unevenness and little step etc. makes marking robot steady operation.

The front wheel 121 may be an omni wheel, which may be composed of a plurality of individual small tires, and may be composed of 24 individual small tires, which may be made of rubber, for example. The plurality of independent small tires can form a tooth-shaped structure, so that the scribing robot can improve the grabbing force in the process of encountering obstacles and ravines.

Through the setting of omnidirectional wheel, can make the marking off robot at the in-process of going, can rotate little tire one by one, realize centimeter level turning radius, guarantee marking off robot's biggest flexibility ratio, adapt to the road surface of different circumstances more, promoted free driving ability.

The at least two rear wheels 131 may be pneumatic tires, and the at least two rear wheels 131 may include a first rear wheel and a second rear wheel, which may be disposed opposite to each other at both sides of the chassis frame 11, and may be assembled through a rear wheel transmission shaft. Wherein the first rear wheel may be driven by the first driving motor and the second rear wheel may be driven by the second driving motor.

The movement of the rear wheel assembly 13 is illustrated as a drive mechanism, which may include two separate sets of dc drive motors, a first drive motor and a second drive motor, respectively. The first and second drive motors may be provided on the chassis bracket 11. The two sets of direct current driving motors can independently operate to control the speed difference between the first rear wheel and the second rear wheel, provide power output for the scribing robot and ensure accurate adjustment of the direction.

In some alternative examples, with continued reference to fig. 1-3, the support assembly 30 described above is mounted to the chassis 10, and the support assembly 30 may comprise a multi-layered support frame. The multi-layer support frame can be integrally welded by adopting aluminum alloy. The aluminum alloy can be 7-series aviation grade aluminum alloy, and the diameter of each supporting frame is larger than 3.5 mm, so that the aluminum alloy is firm and stable.

Wherein, the bottom of the multi-layer support frame can be matched with the bent pipe by two cross beams arranged along the first direction X to form a bottom support structure 31, and the bottom support structure 31 is arranged on the chassis 10, thereby bearing weight. In this example, the multilayer support frame does not use the bolt structure to connect, can guarantee that deformation and not hard up can not appear under the long-time use.

The multi-layered support frame is arranged along a second direction Y, which may be a direction away from the chassis 10, with a bottom support structure 31, a first support frame 32 and a second support frame 33 being arranged in sequence. Wherein the base support structure 31 may be provided with the above-described source material containment assembly 70. It will be appreciated that the stock containment assembly 70 rests on the bottom support structure 31 to facilitate maintaining the overall operational stability of the streaking robot.

The raw material accommodating assembly 70 can be made of high-strength plastic materials, so that the quality of the raw material accommodating assembly 70 can be reduced as much as possible, the light-weight operation of the scribing robot is ensured, and meanwhile, the scribing robot is convenient to clean and replace.

The raw material containing unit 70 may be, for example, a rectangular parallelepiped structure or a cylindrical structure. The raw material containing unit 70 stores therein raw materials for drawing road traffic markings, and the raw materials may be white latex paint, for example.

The support assembly 30 may further be provided with a controller 50 and a positioning and orientation assembly 40, and the controller 50 may be electrically connected to the positioning and orientation assembly 40. The controller 50 may be disposed on the first support 32, and the controller 50 may be an intelligent processing unit with processing and storage functions, and those skilled in the art may reasonably configure according to the configuration requirements of different scribing robots, and the specific model of the controller 50 is not limited herein.

For example, the controller 50 may be a heterogeneous computing system that uses a PC architecture in combination with a GPU (Graphic Processing Unit, graphics processor) to operate, and may combine the positioning and orientation component 40 and the scribing component 60 to perform the functions of sensing the external environment, positioning and obstacle avoidance, path planning, map processing, navigation tracking, and the like, thereby providing a favorable decision for the action of the scribing robot and the drawing operation in different modes.

Wherein, the positioning and orientation assembly 40 is used for positioning and orienting the environment to provide the target position to the controller 50, the positioning and orientation assembly 40 may be disposed on the second support 33, the positioning and orientation assembly 40 may include a lidar system 41 and a positioning and orientation system, and the lidar system 41 and the positioning and orientation system may be electrically connected to the controller 50, respectively.

It should be noted that, the Positioning and Orientation System (POS) integrates DGPS (Differential GPS) technology and inertial navigation system (Inertial Navigation System, INS) technology, and the positioning and orientation system can obtain the spatial Position and three-axis attitude information of the moving object.

In this embodiment, the positioning and orientation system may include a GNSS (Global Navigation Satellite System ) positioning and orientation board card and an inertial measurement unit (Inertial Measurement Unit, IMU). The inertial measurement unit can be an industrial inertial measurement unit, which can measure three-axis attitude angle (or angular rate) and acceleration of an object, and the GNSS positioning and orientation board card can adopt a high-precision RTK (Real Time Kinematic, real-time dynamic positioning) technology.

It can be understood that the positioning and orientation system integrates a GNSS positioning and orientation board card and an inertial measurement unit, can be internally provided with various algorithms, such as a deep coupling algorithm and an inclination measurement algorithm, so that the scribing robot can provide continuous, stable and reliable real-time high-precision position and posture information under various harsh natural environments, and can also support functions of RTK calibration-free inclination measurement, no-signal measurement and the like.

Optionally, the GNSS positioning and orientation board card may be configured with a dual antenna 43, so as to provide accurate positioning data for the scribing robot, thereby providing accurate map data for subsequent operations of the scribing robot, and helping accurate decisions.

The scribing assembly 60 is alternatively referred to as a scribing assembly, and the scribing assembly 60 may be fixed to a side of the support assembly 30 adjacent to the chassis 10, or directly fixed to the chassis 10. The scribing assembly 60 may include a guide rail 61 and a slider 62 capable of sliding on the guide rail 61, wherein the extending direction (direction Z) of the guide rail 61 is not consistent with the moving direction (direction Q) of the chassis 10, a spray head 63 is fixed on the slider 62, and the spray nozzle 63 is directed downward, i.e., toward the direction of the road. For example, the guide rail 61 may include a timing belt and a driving shaft, and the slider 62 may be fixed to the timing belt such that the slider 62 may be driven by the timing belt.

The head 63 may be in communication with the source housing assembly 70, and the source housing assembly 70 may provide the working source to the head 63. The spray head 63 may be controlled by a separate electronic control unit which may be communicatively coupled to the controller 50. The spray head 63 may be a lightweight solenoid valve directly controlled via an electronic control unit. Illustratively, when emulsion paint is stored in the stock containment assembly 70, the electronic control unit may control the spray head 63 to respond at a high rate, thereby performing the function of paint marking. By the arrangement, the independent control of the spray heads 63 is realized, and the spray heads are convenient to install, maintain, replace and the like.

During the traveling process of the scribing robot, the controller 50 can acquire the position coordinates provided by the positioning and orientation assembly 40, so that the scribing robot can move to the target position corresponding to the position coordinates by means of the movement of the chassis 10. When the marking robot travels to the target position, the controller 50 may control the electronic control unit and the guide rail 61 according to the pattern of the road traffic marking, so that the nozzle 63 may be driven by the slider 62 to perform the marking operation of the road marking including the road marking and the road lane line.

The scribing robot is merely for illustration, and the structure of the scribing robot according to the embodiment of the present application provided by the applicant. Of course, the scribing robot according to the embodiment of the present application may include other hardware structures, or may include only a part of the structures, or may be a combination of a part of the structures or other hardware structures not included in the drawings.

The following describes a method of operating the scribing robot according to the embodiment of the present application.

Referring to fig. 4, in an alternative example, the method for operating the scribing robot according to the embodiment of the present application includes the following steps:

and S410, after receiving the marker drawing request, traversing the target area to obtain a point cloud map of the target area.

S420, superposing an original operation diagram of the target area and the point cloud map to generate a marking operation diagram, wherein marking operation diagrams record all the objects to be marked in the original operation diagram and marking positions corresponding to all the objects to be marked in the point cloud map.

S430, reading the marking operation chart to determine a target position mapped by the marking position in the target area, and drawing the to-be-marked object corresponding to the marking position in the target position.

According to the embodiment of the application, after the marker drawing request is received, the target area is traversed, and the point cloud map of the target area is obtained; superposing an original operation diagram of the target area and a point cloud map to generate a marking operation diagram, wherein marking operation diagrams record all the objects to be marked in the original operation diagram and marking positions corresponding to all the objects to be marked in the point cloud map; and reading the marking operation diagram to determine a target position mapped by the marking position in the target area, and drawing the to-be-marked object corresponding to the marking position in the target position. The marking robot performs operation according to the marking position of the to-be-marked object in the marking operation diagram, the marking operation diagram is obtained by superposing an original operation diagram of the target area and a point cloud map obtained through traversing, so that the marker can be finally drawn at a pre-planned position without using a template method, the accurate drawing of the marker is realized, the technical problem of complicated construction operation of the pavement marker in the related art is solved, the operation of taking down a template is omitted, and the quality of the marker drawn by the target area is higher.

It should be noted that, the embodiment of the present application may be applied to a scribing robot, and may also be applied to an automated scribing system formed by combining a scribing robot and a control terminal for controlling the scribing robot.

In some alternative examples, in S410 described above, upon determining that the road surface marker drawing is to be performed, the construction operator may make a mode adjustment to the marking robot, at which point the marker drawing request may be considered to be received. Or, when it is determined that the road surface marker drawing is required, the construction operator can control the control terminal, and further input parameters related to the road surface marker construction to the marking robot, and at this time, it can be considered that the marker drawing request is received.

It will be appreciated that the marker has a particular shape and position, in this example, the target area to be rendered may be traversed in order to obtain the position of the marker to be marked. For example, the target area may be a road intersection, but may be other areas where pavement markers need to be drawn.

The control terminal can be manipulated by construction operators to control the scribing robot to walk by means of the control terminal, so that the scribing robot can traverse the target area. Or, the distance parameter set by the construction operator in the marker drawing request can be obtained, and then the traversal is performed according to the distance parameter.

By way of example, the distance parameter may be a scribe line range, which is a target area within N meters of the scribe robot, whereby the scribe robot may achieve traversal of the target area in accordance with the distance parameter.

And finally traversing to obtain the point cloud map of the target area. Referring to fig. 5, fig. 5 is a point cloud map obtained by traversing the streaking robot when the target area is an intersection.

Optionally, the process of traversing the target area to obtain the point cloud map may include: and controlling the driving mechanism to traverse the target area so as to respectively control the scanning module and the positioning module to correspondingly perform laser scanning and positioning on the target area in the traversing process, and correspondingly obtaining initial point cloud data and positioning data, wherein the positioning data comprises longitude, latitude and heading. And generating a point cloud map of the target area according to the initial point cloud data and the positioning data.

The scanning module may be a laser radar system in the scribing robot, or may be a device or module capable of performing laser scanning in the scribing robot. The positioning module may be a positioning orientation module in the aforementioned scribing robot.

In the process that the driving mechanism enables the scribing robot to traverse the target area, the scanning module and the positioning module work simultaneously, and the scanning module and the positioning module can operate by laser radar SLAM (Simultaneous Localization and Mapping, instant positioning and map building) to construct a point cloud, and meanwhile, a GNSS positioning and orientation board in the positioning and orientation module can synchronously record the measured longitude, latitude and heading.

It can be understood that the scanning module and the positioning module are both arranged in the scribing robot, so that each point obtained by the operation of the scanning module has definite longitude and latitude, and therefore, the point cloud map which is processed into the target area can be synthesized according to the initial point cloud data and the positioning data, and further, the point cloud map can be used as an expression mode of geographic information to be overlapped with a subsequent original operation map.

In some optional examples, the process of generating the point cloud map of the target area according to the initial point cloud data and the positioning data including longitude, latitude and heading may include: downsampling the initial point cloud data, and removing abnormal noise points in the initial point cloud data to obtain intermediate point cloud data; synthesizing the intermediate point cloud data and the positioning data to obtain final point cloud data; performing frame-by-frame matching on the final point cloud data through a laser odometer to obtain a rotation translation matrix corresponding to the final point cloud data; and obtaining a point cloud map of the target area through the final point cloud data and the corresponding rotation and translation matrix.

The process of downsampling the initial point cloud data and eliminating abnormal noise points to obtain the intermediate point cloud data belongs to the process of preprocessing the point cloud data, and the speed and accuracy of subsequent data processing can be improved through setting the process.

In the obtained initial point cloud data, the near points closer to the scanning module are denser, the far points are sparser, the influence of the number of the point clouds at different distances can be reduced through downsampling, the local weight is prevented from being larger, the matching result is balanced, meanwhile, the number of the point clouds can be reduced under the condition that the back-end performance is not influenced, and the operation speed is improved.

Removing the outlier may include removing far and/or near points. It should be noted that, taking the scanning module as the laser radar system for example, the reliability of the points that are too close or too far measured by the laser radar is low, so the point should be rejected first.

In addition, the driving mechanism controls the scribing robot to traverse, and meanwhile, the scanning module can also detect the road plane in the process of laser scanning. It should be noted that, the road plane detection can ensure the accuracy in the height direction and the attitude angle, so that the number of effective point clouds in the finally obtained initial point cloud data is enough, and meanwhile, the too large included angle between the scanning plane and the actual real plane can be prevented, thereby ensuring the accuracy of the plane during laser scanning.

The above plane detection may be used in combination with a fitting algorithm, for example, RANSAC (Random Sample Consensus) algorithm, which may set tolerances, iteration number, etc. during use.

The laser odometer is used for carrying out frame-by-frame matching on the acquired final point cloud data according to time sequence, and the matching result is a rotation translation matrix of a new point cloud frame relative to a previous point cloud frame. When the operation is continuously performed, the obtained rotation translation matrix can be derived as a motion track. In this embodiment, the frame-by-frame matching may be performed by ICP (Iterative Closest Point, iterative closest point algorithm), GICP (Generalized ICP, generalized iterative closest point algorithm), or NDT (Normal Distribution Transform, normal distribution transform algorithm).

In some alternative examples, the process of frame-by-frame matching with a laser odometer may include: receiving final point cloud data and odometer data obtained by processing each frame; downsampling the newly received point cloud; if the current point cloud is the first frame, recording and storing the current point cloud into a reference frame of a matching library; if the first frame is not the first frame, performing point cloud matching (for example, performing point cloud matching by using an NDT matching method) with the reference frame in the matching library to obtain a rotation translation matrix. After real-time accumulated pose transformation and frame-by-frame matching, laser odometer information can be issued finally.

Optionally, an anomaly determination and/or motion filtering function may also be added when frame-by-frame matching is performed. Wherein the anomaly determination is to discard if the rotation translation matrices of two frames match differ too much. The motion filtering function is to take a certain frame point cloud frame as a key frame at a certain distance, and update the key frame record as a reference frame.

When all final point cloud data and rotation translation matrixes corresponding to the final point cloud data are obtained, a motion track can be formed, then through back-end fusion, back-end processing (for example, processing is performed by calling a graph optimization library g2 o) is performed by using a graph optimization idea, so that a key frame is used as a vertex, and information such as a plane, a closed loop, a positioning and orientation unit and the like is used as a boundary to perform constraint, and a point cloud map is generated.

When each boundary of the constraint is obtained, the final point cloud data of each frame can be multiplied by the corresponding rotation translation matrix, and then the frames are overlapped, so that the point cloud map of the target area can be obtained.

In some alternative examples, in S420, an original job map of the target area may be acquired, which may be a drawing drawn when the road traffic planning design is made, for example, may be a CAD drawing, or other drawing.

It should be noted that, the original operation chart is marked with the to-be-marked object to be drawn by the marking robot, and the point cloud map includes longitude and latitude and point cloud data of each point of the target area, so that the two are overlapped, and the generated marking operation chart can include marking positions of each to-be-marked object in the point cloud map in the original operation chart. The marking position may be latitude and longitude, or may be coordinates relative to the scribing robot.

It can be understood that the directions, proportions and the like of the point cloud map and the original operation map are not necessarily consistent, so that in order to ensure the accuracy of the marking positions, the same-name feature points can be marked, and then affine transformation is performed according to the same-name feature points, so that the finally superimposed original operation map and the points on the point cloud map are in one-to-one correspondence.

Illustratively, overlaying the original job map and the point cloud map, the process of generating the reticle job map may include: and determining a first characteristic point and a second characteristic point, wherein the first characteristic point is positioned in the point cloud map, the second characteristic point is positioned in the original operation map, and the first characteristic point and the second characteristic point are mutually same-name characteristic points. And carrying out affine transformation on the original operation map through the first characteristic points and the second characteristic points which are the same-name characteristic points to obtain a target image corresponding to the point cloud map. And acquiring longitude and latitude of each point in the target image in the corresponding point cloud map, wherein each point comprises points forming each to-be-marked object. And recording the longitude and latitude of the points forming each to-be-marked object as the marking position of each to-be-marked object in the target image, and outputting the target image as a marking operation chart.

The first feature points and the second feature points can be corner points with obvious features in the point cloud map and the original operation map, and a plurality of pairs of first feature points and second feature points which are the same-name feature points can be found, so that accuracy of affine transformation is ensured.

It should be noted that, based on the homonymous feature points, a transformation relationship between the original operation map and longitude and latitude, that is, an affine transformation matrix from the original operation map to the point cloud map, may be found, after the affine transformation matrix is obtained, affine transformation may be performed on the original operation map based on the affine transformation matrix, so as to obtain a target image corresponding to the point cloud map.

The affine transformation described above is a combination of three operations of rotation, translation, and scaling, and thus an arbitrary affine transformation can be expressed as multiplying by a matrix (linear transformation) plus a vector (translation), and in this embodiment, the affine transformation can be expressed using a matrix of 2*3.

After affine transformation is carried out to obtain a target image corresponding to the point cloud map, the longitude and latitude of each point in the target image in the point cloud map can be obtained. The road surface marker may be formed by a plurality of points, and the plurality of points are also included in each point of the target image, so that when the images are superimposed to obtain the marking operation chart, the longitude and latitude of all points forming the marker can be recorded in the target image as the marking position of the marker to be marked, and the finally obtained target image is output as the marking operation chart, thereby enabling the follow-up marking robot to accurately know the position pattern of each longitude and latitude when in operation, and realizing the accurate operation of the road surface marker.

In some optional examples, before outputting the final obtained target image as the marking operation chart, a satellite map of the target area can be found according to the longitude and latitude of each point in the corresponding point cloud map, and then according to the obtained satellite map, error values of each point displayed on the satellite map and each point on the target image obtained after affine transformation are calculated.

If the error value is smaller than the error threshold value, the transformation result obtained after affine transformation is considered to be effective, and the target image can be output as a marking operation chart. Otherwise, the target image can be discarded and laser scanning can be performed again, or the same-name feature points can be confirmed again.

Referring to fig. 6, fig. 6 shows an alternative schematic diagram of the superimposed target image and satellite map when evaluating the calculated error value, so that the error values of the target image and each point in the satellite map are small, and should be smaller than the error threshold, so that the target image obtained by affine transformation is correct.

In some optional examples, in S430, the marking robot may read the marking operation chart to extract the marking positions of the to-be-marked objects in the marking operation chart, and further generate an operation sequence according to the marking positions corresponding to the to-be-marked objects in the marking operation chart and the current position of the marking robot, where the operation sequence records the drawing sequence of the to-be-marked objects; finally, each target position in the target area can be sequentially determined according to the operation sequence.

It can be understood that in the marking operation chart, each to-be-marked object has a corresponding marking position, and for the marking robot, the to-be-marked objects can be sorted according to different distances and heading from the current position to the current position, for example, the to-be-marked objects can be sorted according to the sequence from near to far, or the to-be-marked objects can be sorted according to other sequences, so as to obtain the operation sequence. For example, referring to fig. 7, fig. 7 shows the drawing order marked by 8 pavement markers to be drawn, i.e., the sequences "1" to "8", respectively, when the target area is an intersection.

And the operation sequence generated by the marking robot can be correspondingly obtained according to each to-be-marked object in the marking operation chart, and the dot matrix file of each to-be-marked object comprises the shape and the spraying area of each to-be-marked object, so that the operation sequence can be sequentially generated according to the operation sequence. The subsequent marking robot can determine each target position in the target area according to the longitude and latitude of each point, so that the drawing operation of the to-be-marked object can be performed at the target position after the orientation of the marking robot is the same as the orientation of the position of the to-be-marked object.

The scribing robot according to fig. 1 to 3 is also described as an example. Referring to fig. 8, fig. 8 is a schematic diagram of the scribing robot of fig. 1 to 3 spraying on the combined guide rail 61 and slider 62. It should be noted that, because the spray head 63 can move left and right under the driving of the slider 62, when the driving mechanism drives the scribing robot to travel on the road, the spray head 63 receives the instruction sent by the controller via the electronic control unit, and starts to move and spray the paint.

In this process, the controller may read the job sequence and obtain the dot matrix file of the to-be-marked object to be drawn for the target position involved therein, and further control the slide 62 to move to the target position for spraying by detecting whether the dot matrix file is at the desired spraying position.

Illustratively, the slider 62 may be controlled to move from left to right on the rail 61, and each time the scribing robot moves forward, the slider 62 drives the shower head 63 to the leftmost end, and starts to move stepwise to the right. In the process that the nozzle 63 is driven by the slider 62 to move rightward step by step, it is possible to detect whether the position in the dot matrix file is a white drawing area. If the paint is a white paint region, the head 63 ejects paint to the road, and if the paint is not a white paint region, for example, a black paint region, the head 63 does not operate. It is then possible to detect whether the spray head 63 is at the rightmost side at this time. When the rightmost side is not moved, the slider 62 drives the spray head 63 to continue to move rightwards until the spray head 63 is positioned at the rightmost side, and the marking robot can be controlled to continue to move forwards after the target position is drawn. And when all the dot matrix files are drawn, finishing the drawing of the marker of the target area.

When the operation mode of the marking robot is switched to the road lane line construction mode, the operation method of the marking robot may include:

and A410, obtaining drawing parameters corresponding to the drawing request when the drawing request for the lane lines is received.

The drawing parameters may include a first distance and a second distance, the first distance is a set distance between the first edge and the target lane line, the road edge of the road where the lane line is located includes the first edge, and the lane line may include the target lane line. The second distance is a set distance between any two adjacent lane lines;

and A420, traveling on the road, and acquiring the minimum distance to the reference in real time by taking the continuously detected road edge as the reference in the traveling process, so as to execute the lane line drawing operation when the minimum distance is equal to the target distance.

Wherein the target distance is determined from the first distance and the second distance.

In this embodiment, each time a drawing request for a lane line is received, drawing parameters corresponding to the drawing request are obtained, the drawing parameters include a first distance and a second distance, the first distance is a set distance between a first edge and a target lane line, a road edge of a road where the lane line is located includes the first edge, the lane line includes the target lane line, and the second distance is a set distance between any two adjacent lane lines; and (3) traveling on the road, and acquiring a minimum distance to the reference in real time by taking the continuously detected road edge as the reference in the traveling process, so as to execute the lane drawing operation when the minimum distance is equal to the target distance, wherein the target distance is determined according to the first distance and the second distance. The lane line drawing operation is executed after the relation between the target distance and the minimum distance acquired in real time to the reference, and the reference is the road edge continuously detected in the running process, so that the lane line drawing operation takes the continuously changed road edge as a reference, the drawing is accurate, the operation proficiency of construction operators is not relied on, the reliability is high, and the technical problem of low reliability of the construction operation of the road surface lane line in the related art can be solved.

The operation method for constructing the pavement lane line can be applied to a marking robot or an automatic marking system formed by combining the marking robot and a control terminal.

The control terminal may be a mobile phone, a tablet computer or a dedicated control device, for example. The control terminal may be communicatively coupled to the streaking robot, for example, via a wireless mobile communications network.

In some alternative examples, in a410, it may be that when the construction operator controls the marking robot to adjust to the road surface lane line construction mode, the marking robot considers that a drawing request for the lane line is received. Alternatively, in other examples, when the scribing robot receives a parameter configured by the construction operator through the control terminal, or when the scribing robot receives a drawing request for a lane line sent by the construction operator through the control terminal, the drawing request for the lane line may be considered to be received.

It should be noted that, referring to fig. 9, the lane lines of the road surface are distributed on various roads with different sizes, such as a common road, a highway, etc. Lane lines are generally divided into two types, solid line and broken line. Wherein the solid line includes a separation line between the motor vehicle lane and the non-motor vehicle lane (hereinafter also referred to as a mechanical separation line) and a separation line between the different-directional roads, and the broken line includes a same-directional road separation line.

The above-mentioned spacing lines between different-direction roads, several equidirectional road separation lines and machine non-separation lines are combined to form several motor vehicle lanes, and in general, the non-motor vehicle is far smaller than the road width required for motor vehicle, so that the non-motor vehicle lane is generally narrower than the motor vehicle lane width, i.e. the width from machine non-separation line to road edge (for example road side road shoulder) is different from the set distance between any two motor vehicle lanes.

Therefore, based on different distance characteristics between the lane lines, the first distance and the second distance can be configured as drawing parameters corresponding to the drawing request, wherein the first distance is a set distance between the first edge and the target lane line, and the second distance is a set distance between any two adjacent lane lines, so that standard drawing operation of the lane lines can be performed by taking different drawing parameters as references in the subsequent process of drawing the lane lines.

It should be noted that the target lane line may be any lane line in the road, for example, may be a non-dividing line, and the first edge may be a road edge near the non-dividing line in fig. 9, so the first distance is a set distance from the road edge near the non-dividing line to the non-dividing line, and the distance may be denoted by d1 in the following. Of course, in other examples, the target lane line may be any one of the same-direction road separation lines, and the first edge may be a road edge on a side away from the machine non-separation line in fig. 9.

In some optional examples, the process of obtaining the drawing parameters corresponding to the drawing request may include:

and displaying a first interface, wherein the first interface comprises a first control and a second control.

When a first input to the first control is received, drawing parameters of a first input configuration are acquired in response to the first input.

When a second input to the second control is received, responding to the second input, acquiring historical drawing parameters, and taking the historical drawing parameters as drawing parameters corresponding to a drawing request.

The first interface may be displayed on a touch display module of the scribing robot, or may also be displayed on a control terminal communicatively connected to the scribing robot. The first interface is an interface for carrying out selection configuration on drawing parameters and/or sending instructions to the robot, and the interface comprises at least two controls.

The first control may be used to manually configure the drawing parameters, so that when a first input for the first control is received, the drawing parameters configured by the first input may be obtained. The first input may be a touch input or a drag input of a user, etc.

For example, the first control may include sub-controls corresponding to a plurality of different drawing parameters, and when the drawing parameters need to be modified, the user performs touch input on a certain sub-control, and the sub-control updates the drawing parameters according to the touch input of the user.

The second control may be used for applying the historical drawing parameters, for example, the second control may be a "start running" control, and when the drawing parameters set in the previous drawing do not need to be modified, the second control may be directly clicked, so that the scribing robot directly applies the historical drawing parameters as the drawing parameters of the drawing job. Of course, in other examples, when the second input of the second control is received, the historical drawing parameters of the earlier time may also be obtained for the user to make a selection for applying the drawing parameter template.

In the example, a plurality of drawing parameters are obtained, and the drawing method is flexible and various, so that the scribing robot can conveniently and rapidly obtain the parameters required by drawing.

In some optional examples, before the drawing parameters corresponding to the drawing request are obtained, it may also be determined whether the previous drawing operation on the lane line is completed after each time the drawing request on the lane line is received. If the previous drawing operation is not completed, the recorded latest historical position information can be obtained, wherein the latest historical position information comprises longitude, latitude and heading. And then, according to the latest historical position information, advancing to a target position so as to finish the previous drawing operation of the lane lines, wherein the target position corresponds to the latest historical position information. If the previous drawing operation is completed, drawing parameters corresponding to the drawing request can be obtained.

It should be noted that, when each drawing operation is performed, the scribing robot may continuously collect and store longitude and latitude coordinates and heading of the operation through a positioning module (such as a GNSS positioning and orientation board card) to form an operation path. The working path comprises the working path already constructed and also comprises a lane line working path planned by a laser radar system. Once the scribing robot pauses operation due to faults, insufficient raw materials or other reasons, the scribing robot can return to the target position to continue operation according to the latest historical position, so that the complete drawing of the lane lines is ensured.

In the example, the historical position information is combined with the completion degree detection, so that the completion degree of each lane line drawing operation can be ensured, and the complete drawing of the lane line of the road surface is realized.

In some alternative examples, prior to a420, the scoring robot may be controlled by a drive mechanism to travel stepwise after the drawing parameters are acquired. In the travelling process, multi-line laser scanning can be performed through a scanning module (which can be the laser radar system) to obtain a plurality of pieces of linear data. And then screening target linear data from the plurality of linear data.

The target linear data is linear data in which a corresponding laser scanning range covers a first direction (e.g., direction Q in fig. 1) and there is a data jump, and the first direction is a traveling direction of the scribing robot.

The scanning module performs multi-line laser scanning, and multi-line laser radar in a laser radar system can be used. It will be appreciated that the scanning range of the multi-line lidar diverges around. Since there is much interference in the direction opposite to the traveling direction, and the application of the lidar in the example of the present application is mainly used for road edge detection in the traveling direction, it is necessary to screen out the linear data covering the first direction from the linear data.

On the other hand, the linear data with data jump is the linear data with road surface fluctuation, so the jump detection can be continued after the linear data which covers the first direction and has data jump is screened as the target linear data, thereby determining the road edge.

When the target linear data is screened, the position of the marking robot is taken as a starting point, the jump detection is carried out on the target linear data along a second direction, the second direction is intersected with the first direction, and the second direction can be a direction perpendicular to the advancing direction of the robot, namely, the jump detection is carried out from the position of the marking robot to two sides of the road step by step.

When the jump is detected, acquiring the jump amplitude; if the jump amplitude is larger than the first amplitude, determining the position when the jump is detected as the road edge, and stopping the jump detection; and if the jump amplitude is smaller than or equal to the first amplitude, continuing to carry out jump detection along the second direction.

Wherein the first amplitude may be correlated to a road shoulder height of the road edge, e.g. the first amplitude may be 15 cm. When the jump detection is performed from the position where the scribing robot is located to at least one side, the position where the jump amplitude is detected for the first time to be larger than the first amplitude is considered to be the road edge.

In the example, a method for road edge detection by the scribing robot is provided, a reference basis is provided for subsequent lane line drawing operation by taking continuously-changed road edges as references, and the accuracy of lane line drawing is ensured.

In yet other alternative examples, the above-described process of performing a multi-line laser scan to obtain a plurality of pieces of linear data may include: performing multi-line laser scanning to obtain point cloud data, wherein the point cloud data comprises source information, and the source information indicates a laser source for generating the point cloud data; the accumulated point cloud data can be classified and arranged according to different source information to form a plurality of pieces of linear data.

The source information can indicate which laser source the data of the source information belongs to, all data in the point cloud data can be arranged according to the source information, and linear data measured by each laser source independently are obtained, so that classification of the linear data is realized, and subsequent screening of target linear data is facilitated.

In some alternative examples, in a420 above, the continuously detected road edge may be fitted during the travel of the scribing robot to obtain a road edge line. And then, advancing according to the direction of the road edge line, and taking the road edge line as a reference, and acquiring the minimum distance to the reference in real time.

The road edge is a point, and the road edge line can be obtained by fitting through connection of a plurality of road edges, namely, the detected road edges (points) are all on the road edge line. The direction of the road edge line is always changed because the built road is usually a curve, and the direction (the heading of the scribing robot) is adjusted by taking the road edge line as a reference, so that the accuracy of the scribing direction of the lane line can be ensured.

In some alternative examples, the drawing parameters may further include a third distance and a number of lanes, where the third distance is a length of a road, and the road refers to a length of a road in each drawing job task obtained after dividing the entire construction road into a plurality of drawing job tasks.

Based on this, in this example, when the minimum distance is equal to the target distance, the process of performing the lane line drawing job may include:

And when the minimum distance is equal to the target distance, executing the sub-job of lane line drawing, and acquiring the accumulated travel length when the sub-job is executed, wherein the lane line drawing job comprises the sub-job.

And when the accumulated travelling length reaches a third distance, determining that the sub-job is executed, and acquiring the accumulated sub-job number after the drawing request is received.

And when the number of the sub-jobs reaches the target number, determining that the lane line drawing operation is completed, wherein the target number is related to the number of lanes. When the number of sub-jobs does not reach the target number, the target distance is self-updated through the second distance, and the steps are returned: and taking the continuously detected road edge as a reference, and acquiring the minimum distance to the reference in real time.

For each drawing job task, a plurality of sub-jobs are divided according to different lane lines. And finishing drawing one lane line, namely finishing one sub-operation, wherein the number of the accumulated sub-operations finished in the drawing operation task is equal to the number of the lane lines (namely, the target number), and finishing drawing all the lane lines.

In this process, the target distance compared with the minimum distance is also updated continuously with the completion of the lane line operation, for example, the second distance may be added each time. For example, referring to fig. 10, if the first edge is an edge near the non-dividing line, the target lane line is the non-dividing line, the first distance is d1, the second distance is d2, and if the drawing sub-job is started from the non-dividing line, the target distance is dist0=d1 in the initial case. After the machine non-separation line is drawn, the course can be adjusted, drawing of the machine non-separation line adjacent to the machine non-separation line and the machine non-separation line on the other side can be started, and at the moment, the target distance is gradually updated to be dist1 and dist2 until dist5, so that the drawing operation of the pair of lane lines is completed.

Note that, dist1 to dist5 satisfy the relationship of d1+kd2, k is a natural number, and in this example, is sequentially 1 to 5, and the final work route of the scribing robot is in an "arcuate" shape.

The method divides a single drawing operation into sub-operations of different lane lines, provides a thinning process of the drawing operation, realizes lane line drawing with continuously updated target distance as a reference, and is accurate in drawing and high in reliability.

Referring to fig. 11, an embodiment of the present application further provides a working device of a scribing robot, including:

the map generation module 111 may be configured to traverse the target area after receiving the marker drawing request, to obtain a point cloud map of the target area.

The superimposing module 112 may be configured to superimpose the original operation map of the target area with the point cloud map to generate a marking operation map, where the marking operation map records each to-be-marked object in the original operation map and a marking position corresponding to each to-be-marked object in the point cloud map.

The drawing module 113 may be configured to read the reticle operation diagram, so as to determine a target position mapped by the marker position in the target area, and perform drawing operation on the to-be-marked object corresponding to the marker position in the target position.

In some embodiments, the superimposing module may include:

the determining unit may be configured to determine a first feature point and a second feature point, where the first feature point is located in the point cloud map, and the second feature point is located in the original job graph, and the first feature point and the second feature point are feature points with the same name.

The transformation unit can be used for carrying out affine transformation on the original operation map through the first characteristic points and the second characteristic points which are the same-name characteristic points to obtain a target image corresponding to the point cloud map.

The acquiring unit may be configured to acquire longitude and latitude of each point in the target image in the corresponding point cloud map, where each point includes a point that forms each to-be-marked object.

And a recording unit which can be used for recording the longitude and latitude of the point forming each to-be-marked object as the marking position of each to-be-marked object in the target image and outputting the target image as a marking operation chart.

In other embodiments, the apparatus may further include:

the calculation module can be used for calculating an error value between the target image and the satellite map of the target area according to the longitude and latitude of each point in the corresponding point cloud map, and triggering the recording unit to output the target image as a marking operation chart when the error value is smaller than an error threshold value.

In still other embodiments, the transformation unit may be specifically configured to calculate an affine transformation matrix from the original job map to the point cloud map by using the first feature point and the second feature point that are feature points with the same name; and carrying out affine transformation on the original operation map through the affine transformation matrix to obtain a target image corresponding to the point cloud map.

In still other embodiments, the scoring robot may include a positioning module, a scanning module, and a drive mechanism; the map generation module may include:

the traversing unit can be used for controlling the driving mechanism to traverse the target area so as to respectively control the scanning module and the positioning module to correspondingly perform laser scanning and positioning on the target area in the traversing process, and correspondingly obtain initial point cloud data and positioning data, wherein the positioning data comprises longitude, latitude and heading.

And the generating unit can be used for generating a point cloud map of the target area according to the initial point cloud data and the positioning data.

In still other embodiments, the generating unit may include:

the preprocessing subunit can be used for downsampling the initial point cloud data and eliminating abnormal noise points in the initial point cloud data to obtain intermediate point cloud data.

And the synthesis processing subunit can be used for carrying out synthesis processing on the intermediate point cloud data and the positioning data to obtain final point cloud data.

And the matching subunit can be used for carrying out frame-by-frame matching on the final-point cloud data through the laser odometer to obtain a rotation translation matrix corresponding to the final-point cloud data.

And the output subunit can be used for obtaining the point cloud map of the target area through the final point cloud data and the corresponding rotation translation matrix.

In still other embodiments, the drawing module may include:

the reading unit can be used for reading the marking positions corresponding to the to-be-marked objects in the marking operation chart.

The sequence generating unit can be used for generating a working sequence according to the marking positions corresponding to the to-be-marked objects in the marking operation chart and the current position of the marking robot, wherein the drawing sequence of each to-be-marked object is recorded in the working sequence.

The position determining unit may be configured to sequentially determine each target position in the target area according to the job sequence.

Referring to fig. 12, fig. 12 is a schematic hardware structure of a working device of a scribing robot according to an embodiment of the present application. The working device of the scribing robot may be at least one of the scribing robot and the control terminal. The control terminal can be at least one of a mobile phone, a tablet computer, a computer and a special control terminal. The work equipment of the streaking robot includes a processor 1201 and a memory 1202 in which computer program instructions are stored.

In particular, the processor 1201 may include a Central Processing Unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured to implement one or more integrated circuits of embodiments of the present application.

Memory 1202 may include mass storage for data or instructions. By way of example, and not limitation, memory 1202 may include a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, magnetic tape, or universal serial bus (Universal Serial Bus, USB) Drive, or a combination of two or more of the above. Memory 1202 may include removable or non-removable (or fixed) media where appropriate. Memory 1202 may be internal or external to the integrated gateway disaster recovery device, where appropriate. In a particular embodiment, the memory 1202 is a non-volatile solid-state memory.

Memory 1202 may include read-only memory (ROM), flash memory devices, random Access Memory (RAM), magnetic disk storage media devices, optical storage media devices, electrical, optical, or other physical/tangible memory storage devices. Thus, in general, memory 1202 includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software comprising computer-executable instructions and when the software is executed (e.g., by one or more processors) it is operable to perform the operations described with reference to the methods according to the above aspects of the disclosure.

The processor 1201 implements the working method of any of the scribing robots of the above embodiments by reading and executing the computer program instructions stored in the memory 1202.

In one example, the work device of the streaking robot may also include a communication interface 1203 and a bus 1210. As shown in fig. 12, the processor 1201, the memory 1202, and the communication interface 1203 are connected to each other via a bus 1210 and perform communication with each other.

The communication interface 1203 is mainly used for implementing communication between each module, device, unit and/or apparatus in the embodiments of the present application.

Bus 1210 includes hardware, software, or both that couple components of the work equipment of the streaking robot to each other. By way of example, and not limitation, the buses may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a micro channel architecture (MCa) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus, or a combination of two or more of the above. Bus 1210 may include one or more buses, where appropriate. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

The operation device of the scribing robot may be based on the operation method of the scribing robot, thereby implementing the operation method and apparatus of the scribing robot described in connection with fig. 1 to 11.

In addition, in combination with the working method of the scribing robot in the above embodiment, the embodiment of the application may provide a computer storage medium for implementation. The computer storage medium has stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement a method of operating any of the scribing robots of the above embodiments.

In addition, the embodiment of the application also provides a computer program product, which comprises a computer program, and the computer program can realize the steps of the embodiment of the method and the corresponding content when being executed by a processor.

In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

It should be understood that in the embodiments of the present application, "B corresponding to a" means that B is associated with a, from which B may be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may also determine B from a and/or other information.

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 equivalent modifications or substitutions will be apparent to those skilled in the art within the scope of the present application, and these modifications or substitutions should be 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 of operation of a scribing robot, the method comprising:

after receiving a marker drawing request, traversing a target area to obtain a point cloud map of the target area;

superposing an original operation diagram of the target area and the point cloud map to generate a marking operation diagram, wherein each to-be-marked object in the original operation diagram and a marking position corresponding to each to-be-marked object in the point cloud map are recorded in the marking operation diagram;

2. The method of claim 1, wherein the superimposing the original job map of the target area with the point cloud map generates a reticle job map, comprising:

Determining a first characteristic point and a second characteristic point, wherein the first characteristic point is positioned in the point cloud map, the second characteristic point is positioned in the original operation map, and the first characteristic point and the second characteristic point are homonymous characteristic points;

acquiring longitude and latitude of each point in the target image in the corresponding point cloud map, wherein each point comprises points forming each to-be-marked object;

recording the longitude and latitude of the point composing each of the objects to be marked as the marking position of each of the objects to be marked in the target image, and outputting the target image as the reticle operation diagram.

3. The method according to claim 2, wherein after the recording of the latitude and longitude of the points constituting each of the markers as the marking positions of each of the markers in the target image, the method further comprises:

When the error value is smaller than the error threshold value, executing the steps of: and outputting the target image as the marking operation chart.

4. The method according to claim 2, wherein affine transforming the original job map by the first feature point and the second feature point which are feature points of the same name to obtain a target image corresponding to the point cloud map, comprises:

calculating affine transformation matrixes from the original operation map to the point cloud map through the first characteristic points and the second characteristic points which are the same-name characteristic points;

and carrying out affine transformation on the original operation map through the affine transformation matrix to obtain the target image corresponding to the point cloud map.

5. The method of claim 1, wherein the scoring robot comprises a positioning module, a scanning module, and a drive mechanism;

traversing the target area to obtain a point cloud map of the target area, wherein the step of traversing the target area comprises the following steps:

And generating the point cloud map of the target area according to the initial point cloud data and the positioning data.

6. The method of claim 5, wherein the generating the point cloud map of the target area from the initial point cloud data and the positioning data comprises:

and obtaining a point cloud map of the target area through the final point cloud data and the corresponding rotation translation matrix.

7. The method of any of claims 1-6, wherein the reading the reticle job graph to determine the target location of the marker location map at the target area comprises:

generating a working sequence according to the marking positions corresponding to the to-be-marked objects in the marking operation chart and the current position of the marking robot, wherein the working sequence records the drawing sequence of the to-be-marked objects;

And sequentially determining the target positions in the target area according to the operation sequence.

8. A work device of a scribing robot, the device comprising:

the superposition module is used for superposing the original operation diagram of the target area and the point cloud map to generate a marking operation diagram, and each to-be-marked object in the original operation diagram and the corresponding marking position of each to-be-marked object in the point cloud map are recorded in the marking operation diagram;

and the drawing module is used for reading the marking operation chart so as to determine the target position mapped by the marking position in the target area and drawing the to-be-marked object corresponding to the marking position in the target position.

9. A work apparatus of a scribing robot, the apparatus comprising: a processor and a memory storing computer program instructions;

the processor, when executing the computer program instructions, performs the steps of the method of operating a streaking robot as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, wherein computer program instructions are stored on the computer-readable storage medium, which when executed by a processor, implement the steps of the working method of the scribing robot according to any one of claims 1 to 7.