Visual sign deployment prompt method, device, computer equipment and storage medium

Abstract

The present invention relates to the field of robot positioning, and discloses a visual sign deployment prompt method, device, computer equipment and storage medium, the method comprising: obtaining a positioning map, a static map and a topological map of a designated site, the topological map comprising a plurality of topological paths; setting a plurality of coverage areas on the static map and the topological map according to the positioning map, each coverage area corresponding to a visual sign; if there is a problem area whose area coverage is within a preset problem range in the static map and / or the topological map, determining the problem sign according to the problem area, and generating prompt information based on the problem sign, the area coverage is used to record the number of times any area is covered by the coverage area. The present invention solves the problem that unreasonable visual sign deployment is prone to occur, and is conducive to ensuring the quality of the positioning map.

Description

Technical Field

[0001] The present invention relates to the field of robot positioning, and in particular to a visual sign deployment prompting method, device, computer equipment and storage medium. Background Art

[0002] At present, when an indoor wheeled mobile robot (hereinafter referred to as the robot) is positioned and deployed, a certain number of visual markers need to be attached to build a positioning map through these visual markers. The rationality of the deployment of visual markers determines the quality of the positioning map to a large extent.

[0003] However, the existing deployment of visual signs relies heavily on the personal experience of the installers. If the installers are not familiar with the deployment site, it is easy to cause unreasonable deployment of visual signs, affecting the quality of the positioning map. Summary of the invention

[0004] Based on this, it is necessary to provide a visual sign deployment prompt method, device, computer equipment and storage medium to address the above-mentioned technical issues, so as to solve the problem of unreasonable visual sign deployment and ensure the quality of positioning maps.

[0005] A visual sign deployment prompt method, comprising:

[0006] Obtaining a positioning map, a static map and a topological map of a designated site, wherein the topological map includes a plurality of topological paths;

[0007] According to the positioning map, a plurality of coverage areas are set on the static map and the topological map, each of the coverage areas corresponds to a visual mark;

[0008] If there is a problem area in the static map and / or the topological map whose area coverage is within a preset problem range, a problem flag is determined according to the problem area, and a prompt message is generated based on the problem flag. The area coverage is used to record the number of times any area is covered by the coverage area.

[0009] A visual sign deployment prompting device, comprising:

[0010] A map acquisition module is used to acquire a positioning map, a static map and a topological map of a designated site, wherein the topological map includes a plurality of topological paths;

[0011] A coverage area setting module, used for setting a number of coverage areas on the static map and the topological map according to the positioning map, each of the coverage areas corresponding to a visual mark;

[0012] A prompt module is used to determine a problem sign according to the problem area if there is a problem area in the static map and / or the topological map whose area coverage is within a preset problem range, and to generate prompt information based on the problem sign. The area coverage is used to record the number of times any area is covered by the coverage area.

[0013] A computer device includes a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor. When the processor executes the computer-readable instructions, the above-mentioned visual sign deployment prompt method is implemented.

[0014] One or more readable storage media storing computer-readable instructions, when the computer-readable instructions are executed by one or more processors, enable the one or more processors to execute the visual sign deployment prompt method as described above.

[0015] The above-mentioned visual sign deployment prompt method, device, computer equipment and storage medium obtain the positioning map, static map and topological map of the designated site, and the topological map includes several topological paths to obtain the map data to be reviewed. According to the positioning map, several coverage areas are set on the static map and the topological map, and each of the coverage areas corresponds to a visual sign, so as to find the problem area of ​​the map through the overlap between the coverage areas (i.e., the area coverage). If there is a problem area in the static map and / or the topological map whose area coverage is within a preset problem range, the problem sign is determined according to the problem area, and prompt information is generated based on the problem sign. The area coverage is used to record the number of times any area is covered by the coverage area to find the problem area and generate corresponding prompts. The present invention solves the problem that unreasonable visual sign deployment is prone to occur, which is conducive to ensuring the quality of the positioning map. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0017] Figure 1 It is a flow chart of a visual sign deployment prompt method in one embodiment of the present invention;

[0018] Figure 2 is a static map drawn in one embodiment of the present invention;

[0019] Figure 3 is a topological map before region growing in one embodiment of the present invention;

[0020] Figure 4 is a topological map after region growing in one embodiment of the present invention;

[0021] Figure 5 It is the coverage area of ​​the projection of two adjacent visual signs on the ground in one embodiment of the present invention;

[0022] Figure 6 It is a structural schematic diagram of a visual sign deployment prompt device in one embodiment of the present invention;

[0023] Figure 7 is a schematic diagram of a computer device in one embodiment of the present invention. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] In one embodiment, if Figure 1 As shown, a visual sign deployment prompt method is provided, comprising the following steps:

[0026] S10: Obtain a positioning map, a static map, and a topological map of a designated site, wherein the topological map includes a plurality of topological paths.

[0027] Understandably, a visual marker refers to a marker that can be recognized by the robot and is used for positioning the robot. The designated site may refer to the robot's workplace. For example, the designated site may be a restaurant that needs to provide delivery services, a business office, a hospital, a leisure and entertainment venue, or a factory, warehouse, or computer room that needs regular inspections.

[0028] Before the robot can work normally, it needs to be positioned and deployed at a designated place to obtain the positioning map, static map and topological map of the designated site. In one example, the positioning deployment process includes: 1. Paste the visual mark on the robot's motion path (it can be the ceiling above the path); 2. Start the robot's mapping program and push the robot along the motion path to generate a positioning map and a static map; 3. Use tool software to draw the topological path of the robot's movement, set the width of each path, and generate a topological map. Among them, the positioning map is a binary file, which contains the ID (Identity document), three-dimensional coordinate information, and angle information of each visual mark. The static map is a plane map. For example Figure 2The figure shows a static map drawn as an example. The topology map includes several topology paths drawn by the installer, and the width of each topology path can be set by the installer based on experience.

[0029] S20. Setting a plurality of coverage areas on the static map and the topological map according to the positioning map, each of the coverage areas corresponding to a visual mark.

[0030] Understandably, one coverage area corresponds to one visual mark, which may mean that if the robot is within the coverage area, the visual mark can be observed by the robot. The coverage area may be elliptical, circular, etc., which are not limited here. The area of ​​the coverage area is related to the robot's field of view and the setting height of the visual mark. Generally, the area of ​​the coverage area is positively correlated with the robot's field of view and positively correlated with the setting height of the visual mark. Since the setting heights of the visual marks may be different, for the same robot, the areas of the coverage areas corresponding to different visual marks may be the same or different.

[0031] S30. If there is a problem area in the static map and / or the topological map whose area coverage is within a preset problem range, determine a problem sign according to the problem area, and generate prompt information based on the problem sign. The area coverage is used to record the number of times any area is covered by the coverage area.

[0032] Understandably, area coverage may refer to the number of visual signs that can be observed in a certain area, that is, the number of times the area is covered by the covered area. Problem areas may be of different types, corresponding to different preset problem ranges. In some examples, the problem areas may be divided into the first area, the second area, the third area, and the like based on different types. Similarly, the problem range may be set based on actual needs, corresponding to each problem area, which is the preset problem range. The problem area within the preset problem range usually has an area coverage of 0 or 1. In other words, the main problem with the problem area is that the number of visual signs is insufficient.

[0033] The problem mark may refer to the visual mark closest to the problem area. The problem mark may be used to locate the problem area. The prompt information may be text information or image information. The prompt information may be used to remind to add a new visual mark between two problem marks to ensure that the area coverage of the problem area meets the preset requirements (i.e., is not within the preset problem range).

[0034] In steps S10-S30, a positioning map, a static map and a topological map of the designated site are obtained, and the topological map includes several topological paths to obtain the map data to be reviewed. According to the positioning map, several coverage areas are set on the static map and the topological map, and each of the coverage areas corresponds to a visual mark, so as to find the problem area of ​​the map through the overlap between the coverage areas (i.e., the area coverage). If there is a problem area in the static map and / or the topological map whose area coverage is within a preset problem range, the problem mark is determined according to the problem area, and a prompt information is generated based on the problem mark. The area coverage is used to record the number of times any area is covered by the coverage area to find the problem area and generate a corresponding prompt.

[0035] Optionally, step S30, i.e., if there is a problem area whose area coverage is within a preset problem range in the static map and / or the topological map, determining a problem sign according to the problem area, and generating prompt information based on the problem sign, includes:

[0036] S301, receiving a setting instruction, and setting a dangerous area on the topological map according to the setting instruction;

[0037] S302, determining whether there is a first area with an area coverage not greater than 1 on the topological path within the dangerous area;

[0038] S303: if there is a first area with an area coverage of not more than 1, determine two visual signs closest to the first area along the topological path, mark the two visual signs as first signs; generate first danger warning information according to the first sign; or,

[0039] S304: If there is a first area whose area coverage is not greater than 1, generate second danger warning information according to the first area.

[0040] Understandably, the setting instruction may refer to an instruction generated by an operator inputting an operation. The operator may set a dangerous area on the topological map through the setting instruction. The dangerous area may refer to a place near a staircase, an elevator entrance, a slope, etc. where the robot may fall.

[0041] It is necessary to judge the topological path in the dangerous area to determine whether each path is covered by two coverage areas. If all paths are covered by two or more coverage areas, there is no first area with an area coverage of no more than 1. At this time, the setting of the visual signs in the dangerous area in the topological map is reasonable, and no danger warning information is generated. If there is a path covered by less than two coverage areas, the path covered by less than two coverage areas is the first area. In other words, the area coverage of the first area is no more than 1. Determine the two visual signs closest to the first area along the topological path. These two visual signs are the first signs. Here, the two closest visual signs are in two different path directions of the first area. For example, the first area is in the middle of a path, and the two visual signs closest to the first area include visual sign 1 and visual sign 2. If visual sign 1 is at one end of the path, visual sign 2 is at the other end of the path.

[0042] After determining the first mark, a first hazard warning message may be generated according to the first mark. In one example, the first hazard warning message may be a picture. The picture includes a red line segment connecting two first marks to prompt the installer to paste a new visual mark between them.

[0043] In other cases, after determining the first area, the second danger warning information can be directly generated according to the first area. The second danger warning information can be text information or image information. In one example, the first area can be marked in red to generate the second danger warning information in image format.

[0044] Optionally, step S30, i.e., if there is a problem area whose area coverage is within a preset problem range in the static map and / or the topological map, determining a problem sign according to the problem area, and generating prompt information based on the problem sign, includes:

[0045] S305, determining whether there is a second area with an area coverage less than 1 on the topological path of the topological map;

[0046] S306: if there is a second area with an area coverage less than 1 on the topological path of the topological map, determine two visual marks closest to the second area along the topological path, mark the two visual marks as second marks; generate first path prompt information according to the second marks, or

[0047] S307: If there is a second area with an area coverage less than 1 on the topological path of the topological map, generate second path prompt information according to the second area.

[0048] Understandably, all topological paths of the topological map can be judged to determine whether there is a second area with an area coverage less than 1. If there is no second area with an area coverage less than 1, it means that the currently set visual mark has completely covered all topological paths, and there is no need to generate the first path prompt information or the second path prompt information.

[0049] If there is a second area with an area coverage less than 1, it means that the robot cannot observe any visual mark in the second area. At this time, the setting of the visual mark in the second area is unreasonable, and the first path prompt information needs to be generated. If there is a path covered by less than one coverage area, the path covered by less than one coverage area is the second area. In other words, the area coverage of the second area is 0. Determine the two visual marks closest to the second area along the topological path. These two visual marks are the second marks. Here, the two closest visual marks are in two different path directions of the second area. For example, the second area is in the middle of a path, and the two visual marks closest to the second area include visual mark 3 and visual mark 4. If visual mark 3 is at one end of the path, then visual mark 4 is at the other end of the path.

[0050] After determining the second mark, the first path prompt information may be generated according to the second mark. In one example, the first path prompt information may be a path prompt picture. The path prompt picture includes a red line segment connecting two second marks to prompt the installer that a new visual mark needs to be pasted between them.

[0051] In other cases, after the second area is determined, the second path prompt information can be directly generated according to the second area. The second path prompt information can be text information or image information. In one example, the second area can be marked in red to generate the second path prompt information in image format.

[0052] Optionally, step S30, i.e., if there is a problem area whose area coverage is within a preset problem range in the static map and / or the topological map, determining a problem sign according to the problem area, and generating prompt information based on the problem sign, includes:

[0053] S308, determining whether there is a third area with an area coverage less than 1 in the idle area of ​​the static map;

[0054] S309: If there is a third area whose area coverage is less than 1 in the idle area of ​​the static map, generate idle area prompt information according to the third area.

[0055] Understandably, the idle area refers to the area where the robot can pass. All the idle areas of the static map can be judged to determine whether there is a third area with an area coverage less than 1. If there is no third area with an area coverage less than 1, it means that the currently set visual signs have completely covered all the idle areas, and there is no need to generate idle area prompt information.

[0056] If there is a third area with an area coverage less than 1, it means that the robot cannot observe any visual signs in the third area. At this time, the setting of visual signs in the third area is unreasonable, and it is necessary to generate idle area prompt information. If there is an idle area covered by less than one covered area, the idle area covered by less than one covered area is the third area. In other words, the area coverage of the third area is 0.

[0057] After the third area is determined, free area prompt information may be generated according to the third area. In one example, the free area prompt information may be an area prompt picture. The area prompt picture includes the third area marked in red, to prompt the installer that a new visual sign needs to be pasted in the third area.

[0058] Optionally, step S10, i.e., after obtaining the positioning map, static map and topological map of the designated site, further includes:

[0059] S11, performing region growing on the topological path on the topological map to generate a topological generation path;

[0060] S12, comparing the topology generated path and the actual path of the static map in terms of width, marking the topology generated path whose width is greater than the actual width as a problem path, wherein the actual width is the width of the actual path;

[0061] S13: Generate path width prompt information according to the problematic path.

[0062] Understandably, region growing can refer to the process of developing a group of pixels or regions into a larger region. By performing region growing on a topological path, a topological generation path that is enlarged compared to the original topological path can be generated. Figure 3 and Figure 4 As shown, Figure 3 To perform topological map before region growing, Figure 4 This is the topological map after region growing.

[0063] You can compare the width of the topology-generated path and the actual path of the static map. If the width of the topology-generated path is less than or equal to the actual width of the actual path, the topology-generated path is a normal path. If the width of the topology-generated path is greater than the actual width of the actual path, the topology-generated path is a problem path.

[0064] After determining the problem path, path width prompt information may be generated based on the problem path. In one example, the path width prompt information may be a path width prompt image. The path width prompt image includes the problem path marked in red, to prompt the installer to modify the width of the problem path so that it is less than or equal to the actual width.

[0065] Optionally, step S20, that is, setting a plurality of coverage areas on the static map and the topological map according to the positioning map, each of the coverage areas corresponds to a visual mark, and the topological map includes a plurality of topological paths, including:

[0066] S201, acquiring coordinate information of a visual marker from the positioning map, wherein the coordinate information includes map coordinate information and height coordinate information;

[0067] S202: Determine the coverage area according to a preset field of view angle and the coordinate information.

[0068] Understandably, the positioning map includes the ID, three-dimensional coordinate information, and angle information of each visual marker. Here, the coordinate information is the three-dimensional coordinate information (values ​​on the X, Y, and Z axes, respectively). The map coordinate information can be represented by plane coordinates (X, Y). The height coordinate information can be represented by Z. The preset field of view angle refers to the field of view angle of the robot. Usually, the preset field of view angle includes a horizontal field of view angle and a vertical field of view angle. Therefore, the photosensitive surface of the robot can be a rectangle. The center point of the coverage area can be determined based on the map coordinate information of the visual marker, and the area of ​​the coverage area can be determined based on the preset field of view angle and the height coordinate information of the visual marker.

[0069] In one example, if Figure 5 As shown, Figure 5 It is the coverage area of ​​two adjacent visual signs projected on the ground. Figure 5 It can be seen that the area covered by the projection of the visual marker (marker1) at a higher height on the ground is larger than the area covered by the projection of the visual marker (marker2) at a lower height on the ground.

[0070] Optionally, the prompt information is picture information containing the question mark.

[0071] Understandably, the prompt information can be presented in the form of picture information. Picture information is more intuitive, which is helpful for operators to quickly locate the problem and solve the problem of unreasonable deployment of visual signs.

[0072] In one example, the installer can obtain a positioning map, a static map, and a topology map after the initial deployment. The above three maps are analyzed by the above-mentioned visual sign deployment prompt method. If no prompt message is generated, it means that the deployment of the visual sign is reasonable, which can greatly reduce the time for map review. There is no need for manual re-pushing after the map is built to eliminate deployment errors, which can effectively reduce labor costs. If a prompt message is generated, the problem area and / or problem sign can be quickly located to solve the problem of unreasonable visual sign deployment. After solving the relevant prompt information one by one, the prompt information can be marked as resolved, and then the robot can be pushed again to build the map to obtain a new positioning map, static map, and topology map. Repeat the above process until the prompt message no longer appears.

[0073] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0074] In one embodiment, a visual sign deployment prompting device is provided, and the visual sign deployment prompting device corresponds one-to-one with the visual sign deployment prompting method in the above embodiment. Figure 6 As shown, the visual sign deployment prompt device includes a map acquisition module 10, a coverage area setting module 20 and a prompt module 30. The detailed description of each functional module is as follows:

[0075] A map acquisition module 10 is used to acquire a positioning map, a static map and a topological map of a designated site, wherein the topological map includes a plurality of topological paths;

[0076] A coverage area setting module 20, configured to set a plurality of coverage areas on the static map and the topological map according to the positioning map, each of the coverage areas corresponding to a visual mark;

[0077] The prompt module 30 is used to determine the problem mark according to the problem area if there is a problem area with area coverage within a preset problem range in the static map and / or the topological map, and generate prompt information based on the problem mark. The area coverage is used to record the number of times any area is covered by the coverage area.

[0078] Optionally, the prompt module 30 includes:

[0079] A dangerous area setting unit, configured to receive a setting instruction and set a dangerous area on the topological map according to the setting instruction;

[0080] A first area determination unit, configured to determine whether there is a first area with an area coverage not greater than 1 on the topological path within the dangerous area;

[0081] A first danger warning unit is configured to, if there is a first area with an area coverage not greater than 1, determine two visual marks closest to the first area along the topological path, mark the two visual marks as first marks, and generate danger warning information according to the first marks;

[0082] The second danger warning unit is used to generate second danger warning information according to the first area if there is a first area with an area coverage not greater than 1.

[0083] Optionally, the prompt module 30 includes:

[0084] A second area determination unit, configured to determine whether there is a second area with an area coverage less than 1 on the topological path of the topological map;

[0085] A first path prompting unit is configured to, if there is a second area with an area coverage less than 1 on the topological path of the topological map, determine two visual marks closest to the second area along the topological path, mark the two visual marks as second marks, and generate path prompt information according to the second mark;

[0086] The second path prompting unit is configured to generate second path prompting information according to a second area if there is a second area with an area coverage less than 1 on the topological path of the topological map.

[0087] Optionally, the prompt module 30 includes:

[0088] A second area determination unit, configured to determine whether there is a third area with an area coverage less than 1 in the idle area of ​​the static map;

[0089] The idle area prompting unit is used to generate idle area prompting information according to the third area if there is a third area with an area coverage less than 1 in the idle area of ​​the static map.

[0090] Optionally, the visual sign deployment prompt device also includes:

[0091] A region growing module, used for performing region growing on the topological path on the topological map to generate a topological generation path;

[0092] A width comparison module, used for comparing the topology generated path and the actual path of the static map in terms of width, marking the topology generated path whose width is greater than the actual width as a problem path, wherein the actual width is the width of the actual path;

[0093] The width prompt module is used to generate path width prompt information according to the problem path.

[0094] Optionally, the coverage area setting module 20 includes:

[0095] A coordinate information acquisition unit, used to acquire coordinate information of the visual marker from the positioning map, wherein the coordinate information includes map coordinate information and height coordinate information;

[0096] The coverage area determination unit is used to determine the coverage area according to a preset field of view angle and the coordinate information.

[0097] Optionally, the prompt information is picture information containing the question mark.

[0098] For the specific definition of the visual sign deployment prompt device, please refer to the definition of the visual sign deployment prompt method above, which will not be repeated here. Each module in the above-mentioned visual sign deployment prompt device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0099] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 7 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a readable storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer-readable instructions. The internal memory provides an environment for the operation of the operating system and computer-readable instructions in the readable storage medium. The network interface of the computer device is used to communicate with an external server via a network connection. When the computer-readable instructions are executed by the processor, a visual sign deployment prompt method is implemented. The readable storage medium provided in this embodiment includes a non-volatile readable storage medium and a volatile readable storage medium.

[0100] In one embodiment, a computer device is provided, including a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, wherein when the processor executes the computer-readable instructions, the following steps are implemented:

[0101] Obtaining a positioning map, a static map and a topological map of a designated site, wherein the topological map includes a plurality of topological paths;

[0102] According to the positioning map, a plurality of coverage areas are set on the static map and the topological map, each of the coverage areas corresponds to a visual mark;

[0103] If there is a problem area in the static map and / or the topological map whose area coverage is within a preset problem range, a problem flag is determined according to the problem area, and a prompt message is generated based on the problem flag. The area coverage is used to record the number of times any area is covered by the coverage area.

[0104] In one embodiment, one or more computer-readable storage media storing computer-readable instructions are provided. The readable storage media provided in this embodiment include non-volatile readable storage media and volatile readable storage media. The readable storage media store computer-readable instructions, and when the computer-readable instructions are executed by one or more processors, the following steps are implemented:

[0105] Obtaining a positioning map, a static map and a topological map of a designated site, wherein the topological map includes a plurality of topological paths;

[0106] According to the positioning map, a plurality of coverage areas are set on the static map and the topological map, each of the coverage areas corresponds to a visual mark;

[0107] If there is a problem area in the static map and / or the topological map whose area coverage is within a preset problem range, a problem flag is determined according to the problem area, and a prompt message is generated based on the problem flag. The area coverage is used to record the number of times any area is covered by the coverage area.

[0108] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through computer-readable instructions, and the computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When the computer-readable instructions are executed, they may include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0109] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0110] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A visual sign deployment prompt method, characterized in that: include: Obtaining a positioning map, a static map and a topological map of a designated site, wherein the topological map includes a plurality of topological paths; According to the positioning map, a plurality of coverage areas are set on the static map and the topological map, each of the coverage areas corresponds to a visual mark; If there is a problem area whose area coverage is within a preset problem range in the static map and / or the topological map, a problem flag is determined according to the problem area, and prompt information is generated based on the problem flag, and the area coverage is used to record the number of times any area is covered by the coverage area; If there is a problem area whose area coverage is within a preset problem range in the static map and / or the topological map, determining a problem sign according to the problem area, and generating prompt information based on the problem sign, including: receiving a setting instruction, and setting a danger zone on the topological map according to the setting instruction; Determine whether there is a first area with an area coverage not greater than 1 on the topological path within the dangerous area; If there is a first area with an area coverage of no more than 1, determine two visual signs closest to the first area along the topological path, and mark the two visual signs as first signs; generate first danger warning information according to the first sign; or, If there is a first area whose area coverage is not greater than 1, second danger warning information is generated according to the first area.

2. The visual sign deployment prompt method according to claim 1, characterized in that: If there is a problem area whose area coverage is within a preset problem range in the static map and / or the topological map, determining a problem sign according to the problem area, and generating prompt information based on the problem sign, including: Determine whether there is a second area with an area coverage less than 1 on the topological path of the topological map; If there is a second area with an area coverage less than 1 on the topological path of the topological map, two visual marks closest to the second area are determined along the topological path, and the two visual marks are marked as second marks; first path prompt information is generated according to the second marks; or, If there is a second area with an area coverage less than 1 on the topological path of the topological map, second path prompt information is generated according to the second area.

3. The visual sign deployment prompt method according to claim 1, characterized in that: If there is a problem area whose area coverage is within a preset problem range in the static map and / or the topological map, determining a problem sign according to the problem area, and generating prompt information based on the problem sign, including: Determine whether there is a third area with an area coverage less than 1 in the idle area of ​​the static map; If there is a third area with an area coverage less than 1 in the idle area of ​​the static map, the visual mark in the third area is a problem mark, and the idle area prompt information is generated according to the problem mark.

4. The visual sign deployment prompt method according to claim 1, characterized in that: After obtaining the location map, static map and topological map of the designated site, the method further includes: Performing region growing on the topological path on the topological map to generate a topological generation path; Comparing the topology generated path and the actual path of the static map in terms of width, marking the topology generated path whose width is greater than the actual width as a problem path, wherein the actual width is the width of the actual path; Generate path width prompt information according to the problem path.

5. The visual sign deployment prompt method according to claim 1, characterized in that: The positioning map is used to set a plurality of coverage areas on the static map and the topological map, each of the coverage areas corresponds to a visual mark, and the topological map includes a plurality of topological paths, including: Acquire coordinate information of the visual marker from the positioning map, wherein the coordinate information includes map coordinate information and height coordinate information; The coverage area is determined according to a preset field of view angle and the coordinate information.

6. The visual sign deployment prompt method according to claim 1, characterized in that: The prompt information is picture information containing the question mark.

7. A visual sign deployment prompt device, characterized in that: include: A map acquisition module is used to acquire a positioning map, a static map and a topological map of a designated site, wherein the topological map includes a plurality of topological paths; A coverage area setting module, used for setting a number of coverage areas on the static map and the topological map according to the positioning map, each of the coverage areas corresponding to a visual mark; A prompt module, for determining a problem flag according to the problem area if there is a problem area whose area coverage is within a preset problem range in the static map and / or the topological map, and generating a prompt message based on the problem flag, wherein the area coverage is used to record the number of times any area is covered by the coverage area; The prompt module comprises: receiving a setting instruction, and setting a danger zone on the topological map according to the setting instruction; Determine whether there is a first area with an area coverage not greater than 1 on the topological path within the dangerous area; If there is a first area with an area coverage of no more than 1, determine two visual signs closest to the first area along the topological path, and mark the two visual signs as first signs; generate first danger warning information according to the first sign; or, If there is a first area whose area coverage is not greater than 1, second danger warning information is generated according to the first area.

8. A computer device comprising a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, characterized in that: When the processor executes the computer-readable instructions, the visual sign deployment prompt method as described in any one of claims 1 to 6 is implemented.

9. One or more readable storage media storing computer-readable instructions, wherein when the computer-readable instructions are executed by one or more processors, the one or more processors execute the visual sign deployment prompt method according to any one of claims 1 to 6.

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