Inspection mobile device and inspection road network acquisition method thereof

A technology of mobile devices and acquisition methods, applied in image data processing, instruments, calculations, etc., which can solve problems such as poor availability of road network data, trajectories that do not meet the kinematics or dynamics requirements of patrol inspection mobile devices, and unavailable road network data, etc. problem, to achieve the effect of improving accuracy and practicality

Pending Publication Date: 2021-12-17
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The trajectory obtained in this way may not meet the kinematics or dynamics requirements of the inspection mobile device, and the path formed by dots on the map is sometimes difficult to take into account the special circumstances of actual obstacles, resulting in the actual road network data being unavailable. This leads to the problem that the existing road network data is relatively poor in practicability

Method used

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  • Inspection mobile device and inspection road network acquisition method thereof
  • Inspection mobile device and inspection road network acquisition method thereof
  • Inspection mobile device and inspection road network acquisition method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0079] An embodiment of the present disclosure provides a method for acquiring a patrolling road network for patrolling a mobile device.

[0080] Specifically, see figure 1 , the method for obtaining the inspection road network of the inspection mobile device includes:

[0081] Step S101, acquiring the point cloud data generated by the patrol mobile device moving according to a preset travel sequence.

[0082] In this embodiment, the inspection mobile device is a mobile device that can perform a specific inspection task. For example, the inspection mobile device may inspect the mobile device on road conditions, which is not limited here. By teaching and inspecting the inspection mobile device once and recording the point cloud data, the point cloud data actually produced by the inspection mobile device moving on the road according to the preset travel sequence can be obtained. Compared with the waypoints formed by performing dot operations in the center, the actual point clo...

Embodiment 2

[0136] In addition, an embodiment of the present disclosure provides an inspection mobile device.

[0137] Specifically, such as Figure 11 As shown, the inspection mobile device 1100 includes:

[0138] An acquisition module 1101, configured to acquire the point cloud data generated by the patrolling mobile device moving according to a preset travel sequence;

[0139] A division module 1102, configured to determine an inspection operation area according to the point cloud data, and divide the inspection operation area according to a preset division grid to obtain an initial grid map;

[0140] An identification module 1103, configured to determine a path grid occupied by path points in the initial grid diagram according to the point cloud data, identify the path grid in the initial grid diagram, and obtain a path grid diagram ;

[0141]A first determination module 1104, configured to determine branch nodes from the point cloud data according to the path grid graph;

[0142]...

Embodiment 3

[0162] In addition, an embodiment of the present disclosure provides an inspection mobile device, including a memory and a processor, the memory stores a computer program, and when the computer program runs on the processor, it executes the method provided in Embodiment 1 of the above method. A method for obtaining an inspection road network for an inspection mobile device.

[0163] This embodiment provides a method for acquiring a road network for patrolling a mobile device as shown in Embodiment 1 for patrolling a mobile device. To avoid repetition, details are not repeated here.

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Abstract

The embodiment of the invention provides an inspection mobile device and an inspection road network acquisition method thereof. The method comprises the following steps: acquiring point cloud data generated when the inspection mobile device moves according to a preset advancing sequence; determining an inspection operation area according to the point cloud data, and dividing the inspection operation area according to a preset partition grid to obtain an initial grid chart; determining path grids occupied by path points in the initial grid chart according to the point cloud data, identifying the path grids of the initial grid chart, and obtaining a path grid chart; determining branch nodes from the point cloud data according to the path grid diagram; and determining an inspection road network according to the point cloud data and the branch nodes. Thus, the actually moving point cloud data is obtained through the field inspection operation of the inspection mobile device, path segment segmentation can be performed based on the more accurate and real moving point cloud data, an accurate inspection road network is obtained, and the accuracy and the practicability of the inspection road network are improved.

Description

technical field [0001] The present invention relates to the technical field of patrol inspection of mobile devices, in particular to a method, device and computer equipment for acquiring a road network for patrol inspection of mobile devices. Background technique [0002] In the prior art, the inspection road network is formed by manually using a mouse to perform dot operations on the established map. In this kind of dotting operation process, relatively good dot accuracy is required, and the accuracy of the map is required to be relatively high, and the use of mouse dot can only generate specific dot connection data. The trajectory obtained in this way may not meet the kinematics or dynamics requirements of the inspection mobile device, and the path formed by dots on the map is sometimes difficult to take into account the special circumstances of actual obstacles, resulting in the actual road network data being unavailable. As a result, the existing road network data has a...

Claims

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Application Information

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IPC IPC(8): G06T7/11G06T7/73
CPCG06T7/11G06T7/75G06T2207/10028
Inventor 王涛毕占甲全王飞熊友军
Owner UBTECH ROBOTICS CORP LTD
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