Position determination method, device, system, computer equipment, and storage medium

Abstract

The present application discloses a method, apparatus, system, computer device, and storage medium for determining a location. The present application can generate a location information request, send the location information request to a location sensor, determine the time information for sending the location information request, receive the location information sent by the location sensor, and generate a time-location information pair based on the time information and the location information to determine the target location of the road detection device. This solution associates the acquired location information with the requested time information to obtain a time-location information pair, which is used to determine the location of the road detection device, thereby avoiding deviations when splicing road surface data and improving the accuracy of road surface detection results.

Description

Technical Field

[0001] The present application relates to the field of computers, and in particular to a method, apparatus, system, computer equipment, and storage medium for determining a position. Background Art

[0002] A road inspection device is a multifunctional inspection device used to inspect road surfaces. It can be a multifunctional inspection vehicle or a standard vehicle. It can be equipped with multiple sensors for collecting road surface data, such as area array cameras, high-precision cameras, and ground-penetrating radar. During road inspection, these sensors continuously collect road-related information as the device moves. Furthermore, the device must accurately record its location. After collecting data, the collected road surface data must be calibrated to correspond to the location of the road inspection device, allowing for the splicing of the road surface data.

[0003] However, during road surface detection, after the road detection device requests a position signal from the position sensor, it takes a certain amount of time for the position information to be returned by the position sensor. This means there is a time difference between the time the position information is obtained and the time it is requested. When the road detection device operates at high speeds, such as in vehicle-mounted mode, where the maximum operating speed reaches 80 km / h, the device travels a considerable distance within this time difference, resulting in errors in the subsequent ground data splicing and coordinate position calibration.

[0004] Therefore, how to improve the accuracy of road surface detection results is a major issue that needs to be solved at present. Summary of the Invention

[0005] The embodiments of the present application provide a location determination method, apparatus, system, computer equipment, and storage medium that can improve the accuracy of road surface detection results.

[0006] An embodiment of the present application provides a position determination method for a road detection device, comprising: generating a position information request; sending the position information request to a position sensor; determining time information for sending the position information request; receiving position information sent by the position sensor; and generating a time-position information pair based on the time information and the position information to determine a target position of the road detection device.

[0007] An embodiment of the present application also provides a position determination device, which is integrated in a road detection device, and includes: a request generation unit, used to generate a position information request; a request sending unit, used to send the position information request to a position sensor; a time information acquisition unit, used to determine the time information for sending the position information request; a position information receiving unit, used to receive the position information sent by the position sensor; and an information pair generation unit, used to generate a time-position information pair based on the time information and the position information, so as to determine the target position of the road detection device.

[0008] An embodiment of the present application also provides a position determination system, including a road detection device and a position sensor, wherein: the road detection device is used to: generate a position information request; send the position information request to the position sensor; determine the time information for sending the position information request; receive the position information sent by the position sensor; generate a time-position information pair based on the time information and the position information to determine the target position of the road detection device; the position sensor is used to: obtain the position information request sent by the road detection device; determine the position information based on the position information request; and send the position information to the road detection device.

[0009] An embodiment of the present application further provides a computer device, comprising a memory storing a plurality of instructions; the processor loads instructions from the memory to execute the steps of any one of the position determination methods provided in the embodiments of the present application.

[0010] An embodiment of the present application further provides a computer-readable storage medium, which stores a plurality of instructions suitable for loading by a processor to execute the steps of any one of the position determination methods provided in the embodiments of the present application.

[0011] In an embodiment of the present application, a location information request can be generated, sent to a location sensor, the time information of sending the location information request can be determined, and the location information sent by the location sensor can be received. When the road detection device obtains a positioning position, the embodiment of the present application determines the time of sending the requested location information, and associates the obtained location information with the time information of the request to obtain a time-location information pair. This time-location information pair is used to determine the position of the road detection device, thereby avoiding deviations when splicing road surface data and improving the accuracy of road surface detection results. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0013] Figure 1 Schematic diagram of a scenario of a location determination method provided in an embodiment of the present application;

[0014] Figure 2 is a flow chart of a location determination method provided in an embodiment of the present application;

[0015] Figure 3 is a structural diagram of a position determination device provided in an embodiment of the present application;

[0016] Figure 4 It is a structural diagram of the computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0018] Embodiments of the present application provide a location determination method, apparatus, system, computer device, and storage medium.

[0019] The location determination device may be integrated into an electronic device, such as a terminal or a server. The terminal may be a mobile phone, tablet computer, smart Bluetooth device, laptop computer, or personal computer (PC); the server may be a single server or a server cluster consisting of multiple servers.

[0020] In some embodiments, the location determination device may also be integrated into multiple electronic devices. For example, the location determination device may be integrated into multiple servers, and the location determination method of the present application may be implemented by multiple servers.

[0021] In some embodiments, the server may also be implemented in the form of a terminal.

[0022] For example, reference Figure 1In some embodiments, a schematic diagram of a location determination system is provided, which can implement location determination and other services. The system can include a road detection device 1000, a location sensor 2000, and a network 3000. The road detection device 1000 and the location sensor 2000 are connected via the network 3000.

[0023] The road detection device is used to: generate a location information request; send the location information request to a location sensor; determine the time information for sending the location information request; receive the location information sent by the location sensor; and generate a time-location information pair based on the time information and the location information to determine the target location of the road detection device.

[0024] The position sensor is used to: obtain a position information request sent by a road detection device; determine position information according to the position information request; and send the position information to the road detection device.

[0025] The network is used for: data transmission between the road detection device and the position sensor. The network can be a wired network, a wireless local area network (WLAN), a local area network (LAN), a cellular network, a 2G network, a 3G network, a 4G network, a 5G network, a satellite network, etc., which is determined according to the type of the position sensor.

[0026] When using a road detection device to detect road conditions, the road surface data is continuously collected by sensors onboard the road detection device. The collected road surface data is then associated with the location of the road detection device corresponding to the collected road surface data, and the road surface data is spliced ​​based on the associated information. In the prior art, when obtaining a location, the road detection device typically associates the road surface data at the time the location information is obtained with the location. However, due to the time difference between the time the location information is obtained and the time the location information is requested, and the time difference between obtaining different location information may also be different, when the road surface data is spliced, the location corresponding to the road surface data deviates from the actual location of the road detection device, resulting in inaccurate road surface detection results.

[0027] In this regard, in an embodiment of the present application, when the road detection device obtains the positioning position, the time of sending the requested position information is determined, and the obtained position information is associated with the requested time information to obtain a time-position information pair, which is used to determine the position of the road detection device to avoid deviations when splicing road surface data and improve the accuracy of road surface detection results.

[0028] It should be noted that the serial numbers of the following embodiments are not intended to limit the preferred order of the embodiments.

[0029] In this embodiment, a method for determining the position of a road detection device is provided. Figure 2 As shown, the specific process of the location determination method can be as follows:

[0030] 110. Generate a location information request.

[0031] The position information request may refer to a request from the tool detection device to the position sensor to obtain information related to the current position of the tool detection device.

[0032] In some embodiments, the location information request includes the request sending time, and the location information request is used to obtain the location information of the prop detection device corresponding to the request sending time from the location sensor. For example, when the road detection device collects road surface information, the location sensor will continuously obtain the location of the road detection device in real time, and record the time of obtaining the location while obtaining the location. When receiving the location information request sent by the road detection device, the location sensor will send the location corresponding to the acquisition time and the request sending time in the acquired location information to the road detection device. The correspondence can be that the acquisition time is the request sending time. By returning the location information of the road detection device at the request sending time to the road detection device, the request sending time is associated with the location information, thereby eliminating the time difference between the moment of obtaining the location information and the moment of requesting the location information, thereby avoiding deviations when splicing road surface data and improving the accuracy of road surface detection results.

[0033] In some embodiments, the step of generating a location information request may include generating the location information request based on a preset time condition. The preset time condition may be a preset time interval or a time determined based on the working status of the road detection device. For example, the location information request is generated based on the time when the road detection device collects road surface information, i.e., a location information request is generated each time road surface information is collected, or a location information request is generated every n times road surface information is collected, and so on.

[0034] 120. Send a location information request to the location sensor.

[0035] Among them, the position sensor refers to a device used to determine the position of the prop detection device, which can be a GNSS sensor, IMU inertial sensor, encoder, displacement sensor, etc.

[0036] In some embodiments, the GNSS sensor may be a sensor corresponding to a GPS positioning base station. In some embodiments, the GPS positioning base station may be a differential GPS base station.

[0037] 130. Determine time information for sending a location information request.

[0038] The time information refers to the time information related to the sending of the location information request, and can be the time when the prop detection device generates the location information request, or the time when the prop detection device sends the location information request, etc. Generally speaking, the prop detection device will send the location information request immediately after generating the location information request.

[0039] In some embodiments, the time information may include the request sending time and the digital circuit delay. In some embodiments, the request sending time may be the request receiving time. The digital circuit delay can be used to correct the relationship between road surface data and location information when errors occur during road surface data splicing, thereby improving the accuracy of road surface detection results.

[0040] Among them, digital circuit delay refers to the time it takes for the prop detection device to send a location information request to the location sensor. Since the prop detection device usually triggers the road surface information collection operation and the location acquisition operation corresponding to the current moment by the same information collection signal when performing road surface detection. In addition, the road detection device continuously collects road surface information when performing road surface detection. Due to network delays or other abnormal conditions, the processing of the location information request may be delayed, resulting in a delay in the request sending time. Therefore, a digital circuit delay is added when obtaining the time information corresponding to the location information request, and the request sending time is corrected by the digital circuit delay to assist in determining the location of the road detection device, improve the accuracy of the determined road detection device location, and thereby improve the accuracy of the road surface detection results.

[0041] In some implementations, when the digital circuit delay is greater than a preset value, the time difference between the request sending time and the request receiving time is determined as the digital circuit delay.

[0042] In some embodiments, determining the time information for sending the location information request includes:

[0043] Obtain the request sending time, which is the time when the road detection device sends the location information request;

[0044] Get the request receiving time, which is the time when the location sensor receives the location information request;

[0045] Determine the time difference between the request sending time and the request receiving time as the digital circuit delay;

[0046] The time information is determined based on the digital circuit delay and the request sending time.

[0047] After the road detection device sends the location information request, the location sensor receives the request. For example, the road detection device may include a GPS module. After generating the location information request, the GPS module sends it to the GNSS sensor. In this case, the request sending time may be the time when the GPS module sends the location information request to the GNSS sensor.

[0048] In some embodiments, determining the time information based on the digital circuit delay and the request transmission time may include: correcting the request transmission time based on the digital circuit delay to obtain the time information. For example, the time information may be obtained by adding the digital circuit delay to the request transmission time. Alternatively, the time information may be obtained by weighting the request transmission time and the digital circuit delay.

[0049] The difference between the request sending time and the request receiving time is determined as the digital circuit delay, so as to more reasonably correct the request sending time, improve the accuracy of the determined road detection device position, and thus improve the accuracy of the road surface detection results.

[0050] 140. Receive location information sent by the location sensor.

[0051] The location information refers to the location information of the road detection device corresponding to the location information request. The location information can be the location information of the request sending time obtained when the location sensor receives the location information request, or the location information of the road detection device at the time of the request sending.

[0052] In some embodiments, the position sensor may include a GNSS sensor, an IMU inertial sensor, and an encoder, and the step of receiving position information sent by the position sensor may include:

[0053] receiving at least one first location information sent by a GNSS sensor;

[0054] Receiving at least one second position information sent by an IMU inertial sensor;

[0055] Receive at least one third position information sent by the encoder.

[0056] Different sensors can acquire different types of data. For example, GNSS sensors can acquire coordinates and position data of the road detection device, IMU inertial sensors can acquire acceleration and angular acceleration data, and encoders can acquire angular displacement, linear displacement, angular velocity, and other data. When determining the target position of the road detection device, the target position can be determined by combining existing technologies with calculations from different position sensors.

[0057] In some embodiments, the GNSS sensor sends the first position information at a preset first time interval, the IMU inertial sensor sends the second position information at a preset second time interval, and the encoder sends the third position information at a preset third time interval. The preset first time interval, the preset second time interval, and the preset third time interval may be different. For example, the preset first time interval, the preset second time interval, and the preset third time interval correspond to the pulse signals of the GNSS sensor, the IMU inertial sensor, and the encoder, respectively. Since the pulse signal intervals of the GNSS sensor, the IMU inertial sensor, and the encoder are different, the preset first time interval, the preset second time interval, and the preset third time interval are the time intervals for the GNSS sensor, the IMU inertial sensor, and the encoder to send the corresponding position information, respectively. They can be preset time intervals or determined by the pulse signals of the sensors.

[0058] 150. Generate a time-position information pair based on the time information and the position information to determine a target position of the road detection device.

[0059] The time-location information pair refers to information that associates time information and location information. It can include time information and target location information corresponding to the time information, or an association between the time information and the target location information. The location information can be at least one of location information, first location information, second location information, and third location information.

[0060] The target location refers to the actual location of the road detection device corresponding to the time information. The target location can be used to calibrate road surface data. The target location can be the actual location of the road detection device at the time the request was sent. If multiple locations corresponding to different times are received after a location information request is sent, the target location can include the actual locations corresponding to these multiple times.

[0061] In some embodiments, the target position may be a position determined based on position information. For example, the position sensor may include a GNSS sensor, an IMU inertial sensor, and an encoder. The target position may be a position calculated based on the first target position information, the second target position information, and the third target position information. If the position sensor only includes a GNSS sensor, the target position may be the position information sent by the GNSS sensor. The target position is the actual position of the road detection device at the time of the request to send the signal. This target position can be used to calibrate the road surface data collected by the road detection device at the time of the request to send the signal, thereby assembling the road surface data.

[0062] Since there is a time difference between the time when the location information is obtained and the time when the location information is requested, the position corresponding to the road surface data deviates from the actual position of the road detection device. Therefore, when the road detection device obtains the positioning position, the time for sending the requested location information is determined, and the obtained location information is associated with the requested time information to obtain a time-location information pair, which is used to determine the position of the road detection device to avoid deviations when splicing road surface data.

[0063] In some embodiments, the position obtained by the position sensor can be further corrected. The method for determining the target position of the road detection device can include obtaining the acquisition time of the road surface data, aligning the time-position information, and mapping the request sending time to the acquisition time. Based on the correspondence between the sending time and the acquisition time, the position information can be mapped to the road surface data, and the target position can be determined based on the position information corresponding to the road surface data. For example, when determining the target position of the road detection device, all received position information can be sorted by the request time information, and the time interval between all position information can be determined. After determining the positioning time corresponding to the first position information among all the position information, the positioning time corresponding to all position information can be calculated based on the time interval. The road surface data can then be spliced ​​together based on the positioning times corresponding to all the position information. In the spliced ​​road surface data, the target position can be determined based on the position information corresponding to the road surface data. If there is only one position sensor, the position information corresponding to that sensor can be determined as the target position. If there are multiple position sensors, the target position can be calculated based on the position information of multiple sensors. The real time corresponding to the first position information can be the request sending time corresponding to the first position information, or it can be a time value determined based on the request sending time and the request receiving time, such as an average value.

[0064] When the road detection device performs road surface detection, it will continuously collect road surface information and the position information of the road detection device. The position acquisition process of steps 110 to 150 can be performed once for each road surface information collection to obtain a time information and a position information corresponding to each position sensor, and a set of time and position information pairs are generated with the time information and position information; the position information can also be obtained according to the pulse signal interval of the sensor during road surface information collection. In this case, multiple position information corresponding to each position sensor are obtained.

[0065] In some embodiments, although the road detection device sends location information requests to multiple location sensors at the same time, due to transmission network delays and other reasons, the location information received by the road detection device from different location sensors may have errors. Therefore, the step of generating a time-location information pair based on the time information and the location information may include:

[0066] Determine, based on the degree of association with the time information, target first position information, target second position information, and target third position information from the at least one first position information, the at least one second position information, and the at least one third position information, respectively, where the target first position information is the position information with the highest degree of association with the time information in the first position information, the target second position information is the position information with the highest degree of association with the time information in the second position information, and the target third position information is the position information with the highest degree of association with the time information in the third position information;

[0067] A time-position information pair is generated according to the time information, the target first position information, the target second position information, and the target third position information.

[0068] The degree of correlation refers to the degree of association between the first, second, and third location information and the time information. This can be determined by determining whether the first, second, and third location information correspond to the request sending time, with the location information corresponding to the request sending time being used as the target location information. The highest degree of correlation can be achieved when the time the location information is received is closest to the request sending time or request receiving time in the time information, or when an estimated location information return time is determined based on the time information. The estimated location information return time is the estimated time when the road detection device receives the location information. The highest degree of correlation can be achieved when the time the location information is received is closest to the estimated location information return time.

[0069] Since the preset first time interval, the preset second time interval and the preset third time interval are different, the times corresponding to the first position information, the second position information and the third position information are different. At this time, the positions closest to the requested sending time are respectively determined from the obtained first position information, the second position information and the third position information as the target first position information, the target second position information and the target third position information, and time position information pairs based on these position information are generated to associate the time information, the target first position information, the target second position information and the target third position information to avoid deviations when splicing road surface data and improve the accuracy of road surface detection results.

[0070] In some embodiments, the step of generating a time-location information pair based on the time information, the first target location information, the second target location information, and the third target location information may include:

[0071] Get the time location mapping table;

[0072] The time information, the first target location information, the second target location information, and the third target location information are stored in a time-location mapping table in correspondence;

[0073] According to the time-position mapping table, a time-position information pair is generated.

[0074] Among them, the time-position mapping table refers to a table used to store time information, target first position information, target second position information, target third position information, and the mapping relationship between time information and target first position information, target second position information, and target third position information.

[0075] In some embodiments, the time location information pair may include time information, target first location information, target second location information, target third location information, and a mapping relationship between the time information and the target first location information, target second location information, and target third location information.

[0076] In some embodiments, the time-position information pair may include a fourth position calculated based on the target first position information, the target second position information, and the target third position information, and the time information. Storing the time information, the target first position information, the target second position information, and the target third position information in a corresponding manner in a time-position mapping table may include: calculating the fourth position based on the target first position information, the target second position information, and the target third position information; and storing the time information and the fourth position in the time-position mapping table.

[0077] By storing the position information, the first position information of the target, the second position information of the target and the third position information in a time-position mapping table, when obtaining the position information and time information, the position information, the time information and the mapping relationship between the time information and the position information can be extracted from the time-position mapping table, and the position information, the time information and the mapping relationship between the time information and the position information can be used as a time-position information pair, so that the time-position information pair can be more conveniently obtained when determining the target position of the road detection device.

[0078] The location determination solution provided by the embodiment of the present application can be applied to various road detection scenarios. For example, taking the application to airport road detection as an example, a road detection robot generates a location information request, sends a location information request to a location sensor, determines the time information for sending the location information request, receives the location information sent by the location sensor, and generates a time-location information pair based on the time information and the location information, so as to determine the target position of the road detection device. The solution provided by the embodiment of the present application can better avoid deviations when splicing road surface data and improve the accuracy of road surface detection results. When the road detection device obtains the positioning position, the embodiment of the present application determines the time for sending the requested location information, and associates the obtained location information with the requested time information to obtain a time-location information pair, which is used to determine the position of the road detection device to avoid deviations when splicing road surface data and improve the accuracy of road surface detection results.

[0079] To better implement the above method, embodiments of the present application further provide a location determination device, which can be integrated into an electronic device, such as a terminal, a server, or the like. The terminal can be a mobile phone, tablet computer, smart Bluetooth device, laptop computer, personal computer, or the like; the server can be a single server or a server cluster consisting of multiple servers.

[0080] For example, in this embodiment, the method of the embodiment of the present application will be described in detail by taking the specific integration of the position determination device into the road detection device as an example.

[0081] For example, Figure 3 As shown, the location device may include a request generating unit 210, a request sending unit 220, a time information acquiring unit 230, a location information receiving unit 240, and an information pair generating unit 250, as follows:

[0082] (1) Request Generation Unit 210

[0083] Used to generate location information requests.

[0084] (2) Request sending unit 220

[0085] Used to send location information requests to the location sensor.

[0086] (3) Time Information Acquisition Unit 230

[0087] Used to determine the time to send a location information request.

[0088] In some implementations, the time information acquiring unit 230 may be specifically configured to:

[0089] Obtain the request sending time, which is the time when the road detection device sends the location information request;

[0090] Get the request receiving time, which is the time when the location sensor receives the location information request;

[0091] Determine the time difference between the request sending time and the request receiving time as the digital circuit delay;

[0092] The time information is determined based on the digital circuit delay and the request sending time.

[0093] (4) Position Information Receiving Unit 240

[0094] Used to receive location information sent by the location sensor.

[0095] In some embodiments, the position sensor includes a GNSS sensor, an IMU inertial sensor, and an encoder, and the position information receiving unit 240 can be specifically used to:

[0096] receiving at least one first location information sent by a GNSS sensor;

[0097] Receiving at least one second position information sent by an IMU inertial sensor;

[0098] Receive at least one third position information sent by the encoder.

[0099] (V) Information Pair Generation Unit 250

[0100] It is used to generate a time-position information pair based on the time information and the position information so as to determine the target position of the road detection device.

[0101] In some implementations, the information pair generating unit 250 may be specifically configured to:

[0102] Determine, based on the degree of association with the time information, target first position information, target second position information, and target third position information from the at least one first position information, the at least one second position information, and the at least one third position information, respectively, where the target first position information is the position information with the highest degree of association with the time information in the first position information, the target second position information is the position information with the highest degree of association with the time information in the second position information, and the target third position information is the position information with the highest degree of association with the time information in the third position information;

[0103] A time-position information pair is generated according to the time information, the target first position information, the target second position information, and the target third position information.

[0104] In some embodiments, the step of generating a time-location information pair based on the time information, the first target location information, the second target location information, and the third target location information may include:

[0105] Get the time location mapping table;

[0106] The time information, the first target location information, the second target location information, and the third target location information are stored in a time-location mapping table in correspondence;

[0107] According to the time-position mapping table, a time-position information pair is generated.

[0108] In specific implementation, the above units can be implemented as independent entities, or can be arbitrarily combined to be implemented as the same or several entities. The specific implementation of the above units can be found in the previous method embodiments and will not be repeated here.

[0109] Therefore, the embodiment of the present application can use the time position information to determine the position of the road detection device to avoid deviation when splicing road surface data and improve the accuracy of road surface detection results.

[0110] To better implement the above method, embodiments of the present application further provide a location determination system, which can be integrated into an electronic device, such as a terminal, a server, or the like. The terminal can be a mobile phone, tablet computer, smart Bluetooth device, laptop computer, personal computer, or the like; the server can be a single server or a server cluster consisting of multiple servers.

[0111] For example, in this embodiment, the method of the embodiment of the present application will be described in detail by taking the specific integration of the position determination system into the road detection device and the position sensor as an example.

[0112] For example, Figure 1 As shown, the position determination system may include a road detection device and a position sensor, wherein:

[0113] Road detection devices are used for:

[0114] generating a location information request;

[0115] Sending a location information request to the location sensor;

[0116] Determine the time information for sending the location information request;

[0117] Receive location information sent by the location sensor;

[0118] generating a time-position information pair based on the time information and the position information so as to determine a target position of the road detection device;

[0119] Position sensors are used for:

[0120] Obtaining location information request sent by the road detection device;

[0121] determining location information based on the location information request;

[0122] Send location information to the road detection device.

[0123] In specific implementation, the specific implementation of each of the above steps can be referred to the previous method embodiment, and will not be repeated here.

[0124] Therefore, the embodiment of the present application can use the time position information to determine the position of the road detection device to avoid deviation when splicing road surface data and improve the accuracy of road surface detection results.

[0125] Accordingly, an embodiment of the present application also provides a computer device, which may be a terminal or a server, and the terminal may be a smart phone, tablet computer, laptop computer, touch screen, game console, personal computer, personal digital assistant (PDA) and other terminal devices.

[0126] like Figure 4 As shown, Figure 4 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present application. The computer device 300 includes a processor 310 having one or more processing cores, a memory 320 having one or more computer-readable storage media, and a computer program stored in the memory 320 and executable on the processor. The processor 310 is electrically connected to the memory 320. Those skilled in the art will appreciate that the computer device structure shown in the figure does not limit the computer device and may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0127] The processor 310 is the control center of the computer device 300. It uses various interfaces and lines to connect various parts of the entire computer device 300. By running or loading software programs and / or modules stored in the memory 320 and calling data stored in the memory 320, it executes various functions of the computer device 300 and processes data, thereby monitoring the computer device 300 as a whole.

[0128] In an embodiment of the present application, the processor 310 in the computer device 300 will load the instructions corresponding to the processes of one or more applications into the memory 320 in accordance with the following steps, and the processor 310 will run the application stored in the memory 320, thereby implementing any one of the location determination methods provided in the embodiments of the present application. Therefore, the beneficial effects that can be achieved by any one of the location determination methods provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0129] Optional, such as Figure 4 As shown, the computer device 300 further includes: a touch screen 330, a radio frequency circuit 340, an audio circuit 350, an input unit 360, and a power supply 370. Among them, the processor 310 is electrically connected to the touch screen 330, the radio frequency circuit 340, the audio circuit 350, the input unit 360, and the power supply 370 respectively. It can be understood by those skilled in the art that Figure 4 The computer device structure shown in the figure does not constitute a limitation to the computer device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0130] The touch display screen 330 can be used to display a graphical user interface and receive operation instructions generated by the user acting on the graphical user interface. The touch display screen 330 may include a display panel and a touch panel. Among them, the display panel can be used to display information input by the user or information provided to the user and various graphical user interfaces of the computer device, and these graphical user interfaces can be composed of graphics, text, icons, videos and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD, Liquid Crystal Display), an organic light emitting diode (OLED, Organic Light-Emitting Diode), etc. The touch panel can be used to collect the user's touch operations on or near it (such as the user uses any suitable object or accessory such as a finger, stylus, etc. on the touch panel or near the touch panel) and generate corresponding operation instructions, and the operation instructions execute the corresponding program. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch direction, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into the touch point coordinates, and then sends it to the processor 310, and can receive the command sent by the processor 310 and execute it. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 310 to determine the type of touch event. The processor 310 then provides a corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present application, the touch panel and the display panel can be integrated into the touch display screen 330 to realize input and output functions. However, in some embodiments, the touch panel and the display panel can be used as two independent components to realize input and output functions. That is, the touch display screen 330 can also be used as part of the input unit 360 to realize the input function.

[0131] The RF circuit 340 may be used to transmit and receive RF signals, thereby establishing wireless communication with a network device or other computer device through wireless communication, and transmitting and receiving signals between the network device or other computer device.

[0132] Audio circuit 350 can be used to provide an audio interface between the user and the computer device through a speaker and microphone. Audio circuit 350 can convert received audio data into electrical signals and transmit them to the speaker, which then converts them into sound signals for output. The microphone, on the other hand, converts collected sound signals into electrical signals, which are received by audio circuit 350 and converted into audio data. The audio data is then output to processor 310 for processing, and then transmitted via RF circuit 340 to, for example, another computer device. Alternatively, the audio data can be output to memory 320 for further processing. Audio circuit 350 may also include an earphone jack to allow communication between external headphones and the computer device.

[0133] The input unit 360 can be used to receive input numbers, character information or user feature information (such as fingerprint, iris, facial information, etc.), and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0134] Power supply 370 is used to supply power to various components of computer device 300. Optionally, power supply 370 can be logically connected to processor 310 via a power management system, thereby enabling the power management system to manage charging, discharging, and power consumption. Power supply 370 can also include one or more DC or AC power supplies, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and other arbitrary components.

[0135] although Figure 4 Not shown in the figure, the computer device 300 may also include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which will not be described in detail here.

[0136] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0137] As can be seen from the above, the computer device provided in this embodiment can use the time position information to determine the position of the road detection device to avoid deviation when splicing road surface data and improve the accuracy of road surface detection results.

[0138] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0139] To this end, embodiments of the present application provide a computer-readable storage medium storing a plurality of computer programs, which can be loaded by a processor to execute the steps of any of the position determination methods provided in embodiments of the present application. For example, the computer program can execute the steps of any of the position determination methods provided in embodiments of the present application, thereby achieving the beneficial effects achievable by any of the position determination methods provided in embodiments of the present application. For details, see the previous embodiments, which will not be repeated here.

[0140] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0141] The storage medium may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0142] Since the computer program stored in the storage medium can execute the steps in any one of the position determination methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the position determination methods provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0143] The above is a detailed introduction to a location determination method, device, storage medium and computer equipment provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for determining a position, characterized in that: For road detection devices, including: generating a location information request; sending the location information request to a location sensor; Determining time information for sending the location information request; receiving position information sent by the position sensor; generating a time-position information pair based on the time information and the position information so as to determine a target position of the road detection device; The position sensor includes a GNSS sensor, an IMU inertial sensor, and an encoder, and the receiving of position information sent by the position sensor includes: receiving at least one first location information sent by the GNSS sensor; Receiving at least one second position information sent by the IMU inertial sensor; receiving at least one third position information sent by the encoder; Generating a time-position information pair according to the time information and the position information includes: Determine, based on the degree of association with the time information, target first position information, target second position information, and target third position information, respectively, from the at least one first position information, the at least one second position information, and the at least one third position information, the target first position information being the position information with the highest degree of association with the time information in the first position information, the target second position information being the position information with the highest degree of association with the time information in the second position information, and the target third position information being the position information with the highest degree of association with the time information in the third position information; A time and position information pair is generated according to the time information, the target first position information, the target second position information, and the target third position information.

2. The method for determining a position according to claim 1, wherein: The determining of the time information for sending the location information request includes: Obtaining a request sending time, where the request sending time is the time when the road detection device sends the location information request; Obtaining a request receiving time, where the request receiving time is the time when the location sensor receives the location information request; Determine the time difference between the request sending time and the request receiving time as the digital circuit delay; The time information is determined according to the digital circuit delay and the request sending time.

3. The position determination method according to claim 1, wherein: The generating a time-position information pair according to the time information, the first target position information, the second target position information, and the third target position information includes: Get the time location mapping table; storing the time information, the first target location information, the second target location information, and the third target location information in the time-location mapping table in correspondence; According to the time-position mapping table, a time-position information pair is generated.

4. A position determination device, characterized in that: Integrated in road detection device, including: A request generating unit, configured to generate a location information request; a request sending unit, configured to send the location information request to the location sensor; a time information acquiring unit, configured to determine the time information of sending the location information request; a position information receiving unit, configured to receive the position information sent by the position sensor; an information pair generating unit, configured to generate a time-position information pair based on the time information and the position information, so as to determine a target position of the road detection device; The position sensor includes a GNSS sensor, an IMU inertial sensor, and an encoder, and the position information receiving unit is specifically used for: receiving at least one first location information sent by the GNSS sensor; Receiving at least one second position information sent by the IMU inertial sensor; receiving at least one third position information sent by the encoder; The information pair generating unit is specifically used for: Determine, based on the degree of association with the time information, target first position information, target second position information, and target third position information, respectively, from the at least one first position information, the at least one second position information, and the at least one third position information, the target first position information being the position information with the highest degree of association with the time information in the first position information, the target second position information being the position information with the highest degree of association with the time information in the second position information, and the target third position information being the position information with the highest degree of association with the time information in the third position information; A time and position information pair is generated according to the time information, the target first position information, the target second position information, and the target third position information.

5. The position determination device according to claim 4, wherein: The time information acquisition unit is used to: Obtaining a request initiation time, where the request initiation time is the time when the road detection device initiates the location information request; Obtaining a request sending time, where the request sending time is the time when the location information request is sent to the location sensor; Determine the time difference between the request initiation time and the request sending time as the digital circuit delay; The time information is determined according to the digital circuit delay and the request sending time.

6. A position determination system, characterized in that: It includes a road detection device and a position sensor, wherein: The road detection device is used for: generating a location information request; sending the location information request to a location sensor; Determining time information for sending the location information request; receiving position information sent by the position sensor; generating a time-position information pair based on the time information and the position information so as to determine a target position of the road detection device; The position sensor is used to: Obtaining location information request sent by the road detection device; determining location information according to the location information request; sending the location information to the road detection device; The position sensor includes a GNSS sensor, an IMU inertial sensor, and an encoder. The road detection device is specifically used for: receiving at least one first location information sent by the GNSS sensor; Receiving at least one second position information sent by the IMU inertial sensor; receiving at least one third position information sent by the encoder; and Determine, based on the degree of association with the time information, target first position information, target second position information, and target third position information, respectively, from the at least one first position information, the at least one second position information, and the at least one third position information, the target first position information being the position information with the highest degree of association with the time information in the first position information, the target second position information being the position information with the highest degree of association with the time information in the second position information, and the target third position information being the position information with the highest degree of association with the time information in the third position information; A time and position information pair is generated according to the time information, the target first position information, the target second position information, and the target third position information.

7. A computer device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a plurality of instructions; the processor loads instructions from the memory to execute the steps in the position determination method according to any one of claims 1 to 3.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a plurality of instructions, which are suitable for being loaded by a processor to execute the steps in the position determination method according to any one of claims 1 to 3.

Images