Job starting point determination method and apparatus, electronic device, and storage medium

Abstract

Embodiments of the present application provide a work starting point determination method and device, electronic equipment and storage medium, applied to a pavement detection robot, and relate to the technical field of robot control. After obtaining the size information and the effective detection length of the pavement detection robot, the pavement to be detected is divided into multiple detection areas according to the effective detection length, and then the work starting points of the detection areas are determined according to the size information of the pavement detection robot. In this way, the pavement to be detected is divided into multiple detection areas according to the size information and the effective detection length of the pavement detection robot, and the work starting points of the detection areas are determined, and each detection area is detected according to the corresponding work starting point, so that the pavement to be detected can be detected completely and accurately.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot control, and in particular relates to a work starting point determination method and device, electronic equipment and a storage medium. BACKGROUND

[0002] When the pavement detection robot performs a detection work in a detection area, after reaching the detection termination boundary of the detection area from the detection starting boundary of the detection area, it needs to translate to the adjacent undetected pavement, and turn around. After detecting from the detection termination boundary of the detection area to the detection starting boundary of the detection area, it needs to translate to the adjacent undetected pavement again, and turn around. The above steps are repeated until the detection area is completely detected.

[0003] However, when the pavement detection robot translates and turns around, the part of the detection area overlapping with the pavement detection robot in the detection area cannot be detected. If the next adjacent detection area is detected directly from the detection starting boundary of the next detection area, a part of the area between the two detection areas will be missed, resulting in incomplete pavement detection and low accuracy. SUMMARY

[0004] Based on the above research, the embodiments of the present application provide a work starting point determination method, device, electronic equipment and storage medium to improve the above problems.

[0005] The embodiments of the present application can be implemented as follows:

[0006] In a first aspect, the embodiments of the present application provide a work starting point determination method applied to a pavement detection robot, and the method comprises:

[0007] Obtaining size information and an effective detection length of the pavement detection robot;

[0008] According to the effective detection length, dividing the to-be-detected pavement into a plurality of detection areas;

[0009] According to the size information of the pavement detection robot, determining a work starting point of each detection area.

[0010] In an optional implementation, the step of determining the work starting point of each detection area according to the size information of the pavement detection robot comprises:

[0011] According to the size information of the pavement detection robot, determining a missed detection distance of the pavement detection robot when detecting each detection area;

[0012] According to the missed detection distance of the pavement detection robot when detecting each detection area, determining a corresponding work starting point of each detection area.

[0013] In an optional embodiment, the pavement detection robot comprises a camera and a ground penetrating radar, the camera and the ground penetrating radar are arranged at two ends of the pavement detection robot body opposite to each other, and the camera is located at the detection front end of the pavement detection robot, and the ground penetrating radar is located at the detection rear end of the pavement detection robot; the size information comprises the size of the pavement detection robot body, the first installation distance between the camera and the robot body, and the second installation distance between the ground penetrating radar and the robot body, and the step of determining the missed detection distance of the pavement detection robot when detecting each detection area according to the size information of the pavement detection robot comprises:

[0014] obtaining the geometric center of the robot according to the size of the pavement detection robot body;

[0015] obtaining the distance between the camera and the geometric center according to the geometric center and the first installation distance;

[0016] obtaining the distance between the ground penetrating radar and the geometric center according to the geometric center and the second installation distance;

[0017] obtaining the missed detection distance according to the distance between the camera and the geometric center and the distance between the ground penetrating radar and the geometric center.

[0018] In an optional embodiment, the step of obtaining the distance between the camera and the geometric center according to the geometric center and the first installation distance comprises:

[0019] obtaining a third installation distance between the geometric center and the installation position of the camera on the pavement detection robot body according to the geometric center and the installation position of the camera on the pavement detection robot body;

[0020] obtaining the distance between the camera and the geometric center according to the first installation distance and the third installation distance.

[0021] In an optional embodiment, the step of obtaining the distance between the ground penetrating radar and the geometric center according to the geometric center and the second installation distance comprises:

[0022] obtaining a fourth installation distance between the geometric center and the installation position of the ground penetrating radar on the pavement detection robot body according to the geometric center and the installation position of the ground penetrating radar on the pavement detection robot body;

[0023] obtaining the distance between the ground penetrating radar and the geometric center according to the second installation distance and the fourth installation distance.

[0024] In an optional implementation, the step of obtaining the missed detection distance according to the distance between the camera and the geometric center and the distance between the ground penetrating radar and the geometric center comprises:

[0025] calculating the sum of the distance between the camera and the geometric center and the distance between the ground penetrating radar and the geometric center to obtain the missed detection distance;

[0026] or, comparing the distance between the camera and the geometric center with the distance between the ground penetrating radar and the geometric center, and setting the larger distance as the target distance;

[0027] determining the missed detection distance according to the target distance.

[0028] In an optional implementation, the step of determining the work start point corresponding to each detection area according to the missed detection distance of the pavement detection robot when detecting each detection area comprises:

[0029] determining the detection start boundary of each detection area according to the detection direction of the pavement detection robot;

[0030] determining the work start boundary of each detection area according to the detection start boundary and the missed detection distance of each detection area; the distance between the detection start boundary and the work start boundary of each detection area is greater than or equal to the missed detection distance, and the direction from the work start boundary to the detection start boundary is the detection direction of the pavement detection robot;

[0031] determining the work start point according to the work start boundary.

[0032] In a second aspect, an embodiment of the present application provides a pavement detection robot work start point determination device, comprising:

[0033] a data acquisition module configured to acquire size information and an effective detection length of the pavement detection robot;

[0034] a division module configured to divide the pavement to be detected into a plurality of detection areas according to the target detection length and the effective detection length;

[0035] a calculation module configured to determine the work start point of each detection area according to each detection area and the size information of the pavement detection robot.

[0036] In a third aspect, an embodiment of the present application provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor implements the work start point determination method of any one of the preceding embodiments when executing the computer program.

[0037] In a fourth aspect, an embodiment of the present application provides a storage medium, wherein the storage medium stores a computer program, and the computer program is executed by a processor to implement the job starting point determination method according to any one of the preceding embodiments.

[0038] The embodiment of the present application provides a job starting point determination method and device, electronic equipment and a storage medium, which are applied to a pavement detection robot. After the size information and the effective detection length of the pavement detection robot are obtained, the pavement to be detected is divided into a plurality of detection areas according to the effective detection length, and then the job starting points of the detection areas are determined according to the size information of the pavement detection robot. In this way, the pavement to be detected is divided into a plurality of detection areas according to the size information of the pavement detection robot and the effective detection length, and the job starting points of the detection areas are determined. The detection areas are detected according to the corresponding job starting points, and the pavement to be detected can be completely and accurately detected. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0040] Figure 1 A detection path schematic diagram of the pavement detection robot provided by the embodiment of the present application.

[0041] Figure 2 A structural schematic diagram of the electronic equipment provided by the embodiment of the present application.

[0042] Figure 3 A flow schematic diagram of the job starting point determination method provided by the embodiment of the present application.

[0043] Figure 4 A schematic diagram of the job starting point determination method provided by the embodiment of the present application.

[0044] Figure 5 A block schematic diagram of the job starting point determination device provided by the embodiment of the present application.

[0045] Icon: 100 - electronic device; 10 - work starting point determination device; 11 - data acquisition module; 12 - division module; 13 - calculation module; 20 - memory; 30 - processor; 40 - communication unit; 1 - robot body; 2 - camera; 3 - ground penetrating radar; 4 - geometric center; 5 - detection starting boundary; 61 - work starting point boundary of current detection area; 62 - work starting point boundary of next detection area; 7 - current detection area; A - distance between camera and geometric center; B - distance between ground penetrating radar and geometric center. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0047] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly and specifically limited.

[0048] In the present application, the word "exemplary" is used to mean "serving as an example, instance, or illustration." Any implementation described as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, for purposes of explanation, specific details are set forth. It will be apparent to those skilled in the art that the present application can be practiced without using these specific details. In other instances, well-known structures and processes are not elaborated upon in order not to obscure the description of the present application with unnecessary detail. Thus, the present application is not intended to be limited by the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed.

[0049] Please refer to the following: Figure 1 When performing inspection work, the pavement inspection robot, after reaching the designated end boundary of the inspection area from the starting boundary, needs to move to an uninspected section of the pavement and turn, then re-inspect the starting boundary of the inspection area. This process is repeated, following a pre-defined serpentine path, until the entire inspection area is completed. During the translation and turning of the pavement inspection robot, areas overlapping with the robot's area cannot be detected. There will be undetectable areas at both the starting and ending boundaries of the inspection area. Therefore, inspection cannot begin from the starting boundary of the pavement to be inspected; the robot's starting point must be redefined to ensure complete inspection of the pavement while maintaining high-precision positioning and communication coverage.

[0050] Based on this, embodiments of the present invention provide a method, apparatus, electronic device, and storage medium for determining the starting point of a pavement inspection robot. After acquiring the robot's dimensions and effective inspection length, the pavement to be inspected is divided into multiple inspection areas based on the effective inspection length. Then, the starting point of the operation for each inspection area is determined based on the robot's dimensions. Thus, by dividing the pavement to be inspected into multiple inspection areas based on the robot's dimensions and effective inspection length, and determining the starting point for each inspection area, the inspection of each area according to its corresponding starting point can achieve complete and accurate inspection of the pavement.

[0051] Please see Figure 2 , Figure 2 This is a structural block diagram of an electronic device 100 provided in this embodiment. Figure 2 As shown, the electronic device may include a job start point determination device 10, a memory 20, a processor 30, and a communication unit 40. The memory 20 stores machine-readable instructions that can be executed by the processor 30. When the electronic device 100 is running, the processor 30 and the memory 20 communicate with each other via a bus. The processor 30 executes the machine-readable instructions and performs the job start point determination method.

[0052] The memory 20, processor 30, and communication unit 40 are electrically connected to each other directly or indirectly to achieve signal transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The job start point determination device 10 includes at least one software function module that can be stored in the memory 20 in the form of software or firmware. The processor 30 is used to execute the executable module (e.g., the software function module or computer program included in the job start point determination device 10) stored in the memory 20.

[0053] The memory 20 can be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electric Erasable Programmable Read-Only Memory (EEPROM), or the like.

[0054] In some embodiments, the processor 30 is configured to perform one or more functions described in the present embodiments. In some embodiments, the processor 30 can include one or more processing cores (e.g., a single-core processor (S) or a multi-core processor (S)). For example only, the processor 30 can include a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), an Application Specific Instruction-set Processor (ASIP), a Graphics Processing Unit (GPU), a Physics Processing Unit (PPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), a Programmable Logic Device (PLD), a controller, a microcontroller unit, a Reduced Instruction Set Computing (RISC), or a microprocessor, or the like, or any combination thereof.

[0055] For ease of illustration, only one processor is described in the electronic device 100. However, it should be noted that the electronic device 100 in the present embodiment can also include multiple processors, and thus the steps performed by one processor described in the present embodiment can also be performed jointly by multiple processors or individually. For example, if a processor of a server performs steps A and B, it should be understood that steps A and B can also be performed jointly by two different processors or individually in one processor. For example, a processor performs step A, a second processor performs step B, or the processor and the second processor jointly perform steps A and B.

[0056] In the present embodiment, the memory 20 is configured to store a program, and the processor 30 is configured to execute the program upon receiving an execution instruction. The method defined by the flow disclosed in any of the embodiments of the present embodiment can be applied in the processor 30 or implemented by the processor 30.

[0057] The communication unit 40 is configured to establish a communication connection between the electronic device 100 and other devices through a network, and configured to transceive data through the network.

[0058] In some embodiments, the network can be any type of wired or wireless network, or a combination thereof. By way of example only, the network can include a wired network, a wireless network, a fiber optic network, a telecommunications network, an intranet, the Internet, a Local Area Network (LAN), a Wide Area Network (WAN), a Wireless Local Area Network (WLAN), a Metropolitan Area Network (MAN), a Wide Area Network (WAN), a Public Switched Telephone Network (PSTN), a Bluetooth network, a ZigBee network, or a Near Field Communication (NFC) network, etc., or any combination thereof.

[0059] In this embodiment, the electronic device 100 can be, but is not limited to, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, a Personal Digital Assistant (PDA), and the like. The specific type of the electronic device is not limited in this embodiment. The electronic device in this embodiment can be a control device of a remote control pavement detection robot, or a control module arranged inside the robot for determining a work starting point of the robot. As long as the electronic device can execute the work starting point determination method, the electronic device is not limited in this embodiment. The specific connection relationship between the electronic device and the pavement detection robot is not limited in this embodiment, and can be adjusted by those skilled in the art according to the needs.

[0060] It can be understood that, Figure 2 The structure shown is only schematic. The electronic device 100 can also have more or fewer components than those shown, or can have different configurations of components than those shown. For example, the electronic device 100 can include more than one processor, more than one memory, more than one communication interface, more than one user interface, or more than one power supply. Figure 2 The components shown can be implemented in hardware, software, or a combination thereof. Figure 2 Figure 2 The components shown can be implemented in hardware, software, or a combination thereof.

[0061] Based on the implementation architecture, Figure 2 this embodiment provides a work starting point determination method, which is executed by the electronic device. Based on the structure diagram of the electronic device 100 provided in this embodiment, the work starting point determination method provided in this embodiment is described in detail. Please refer to Figure 2 , the work starting point determination method provided in this embodiment includes steps S101 to S103. Figure 2 Figure 3 S101: Obtain the size information of the pavement detection robot and the effective detection length.

[0062] The size information of the pavement detection robot includes the size of the body of the pavement detection robot, the installation distance between the camera, ground penetrating radar and the like arranged on the body of the pavement detection robot and the body of the pavement detection robot, and the like. The embodiment is not limited, as long as the size information can affect the detection of the pavement detection robot.

[0063] The size information of the pavement detection robot includes the size of the body of the pavement detection robot, the installation distance between the camera, ground penetrating radar and the like arranged on the body of the pavement detection robot and the body of the pavement detection robot, and the like. The embodiment is not limited, as long as the size information can affect the detection of the pavement detection robot.

[0064] ​​In this embodiment, the effective detection length refers to the pavement length that can be detected by the pavement detection robot under the condition that the pavement detection robot is high-precision positioned. For example, the communication coverage range of the high-precision positioning of the pavement detection robot is 1.5 kilometers, in order to ensure the positioning accuracy, the effective detection length is less than 1.5 kilometers, which can have more accurate positioning accuracy. The value of the effective detection length is determined according to the communication range of the high-precision positioning in the actual application, as long as the positioning accuracy meets the requirements within the effective detection length, the embodiment is not limited specifically.

[0065] S102: According to the effective detection length, the pavement to be detected is divided into a plurality of detection regions.

[0066] The effective detection length is determined under the condition that the robot is high-precision positioned in the communication coverage range, and the positioning accuracy is high within the effective detection length, which can accurately control the pavement detection robot to perform the detection task. Therefore, according to the effective detection length, the pavement to be detected is divided into a plurality of detection regions, which can ensure the positioning accuracy of each detection region.

[0067] According to the effective detection length, when the pavement to be detected is divided, it can be divided according to the relationship between the detection length of the pavement to be detected and the effective detection length, and the division can be equal division, as long as the length of the equal division is less than or equal to the effective detection length; or the effective detection length can be divided, and the last detection region is less than or equal to the effective detection length, there are various division methods, and the embodiment is not limited specifically. For example: the pavement to be detected is 11 kilometers, and the effective detection length of the pavement detection robot is 2 kilometers, then the division can be divided into 6 detection regions, the first five detection regions are 2 kilometers each, and the last detection region is 1 kilometer; or it can be divided into 10 detection regions, each detection region is 1.1 kilometers.

[0068] S103: According to the size information of the pavement detection robot, the work starting point of each detection region is determined.

[0069] Please refer to Figure 1 Because when the pavement detection robot performs the detection work, after driving from the detection starting boundary to the detection termination boundary of the detection region, it needs to be translated and turned, and then detected back to the detection starting boundary, the above steps are repeated, and the detection region is detected according to the snake-shaped path, and when the translation and turning, the part of the detection region that overlaps with the pavement detection robot cannot be detected. Therefore, in order to completely detect the pavement to be detected, in the detection region determined according to the effective length of the pavement detection robot, the work starting point of the detection region is determined in combination with the size of the pavement detection robot.

[0070] In the embodiment, the work starting point of each detection area represents the starting point when actually performing the detection work in the detection area divided according to the effective detection length of the pavement detection robot. The work starting point is not on the detection starting boundary of the detection area, and needs to be determined according to the size information of the pavement detection robot, so as to ensure that the overlapping area of the pavement detection robot and the detection area can be detected when detection is performed according to the work starting point.

[0071] Optionally, in the embodiment, the step of determining the work starting point of each detection area according to the size information of the pavement detection robot comprises:

[0072] According to the size information of the pavement detection robot, the missed detection distance of the pavement detection robot when detecting each detection area is determined;

[0073] According to the missed detection distance of the pavement detection robot when detecting each detection area, the corresponding work starting point of each detection area is determined.

[0074] According to the size information of the pavement detection robot, the overlapping length of the pavement detection robot and the detection area can be obtained, and the missed detection distance of the pavement detection robot can be determined according to the overlapping length. The missed detection distance is only required to be greater than or equal to the overlapping length, which is not limited in the embodiment, and can be adjusted according to the requirements in actual application by those skilled in the art.

[0075] In the embodiment, after the missed detection distance of the pavement detection robot is determined, the work starting point of each detection area can be determined. As long as the interval between the work starting point and the detection starting boundary of each detection area is greater than or equal to the missed detection distance, it can be ensured that the missed detection area in the previous detection area will be detected when the current detection area is detected from the work starting point, and the complete detection information of the pavement to be detected can be finally spliced.

[0076] Optionally, in the embodiment, the pavement detection robot comprises a camera and a ground penetrating radar, the camera and the ground penetrating radar are arranged at two ends of the pavement detection robot body opposite to each other, and the camera is located at the detection front end of the pavement detection robot, and the ground penetrating radar is located at the detection rear end of the pavement detection robot. The size information comprises the size of the pavement detection robot body, the first installation distance between the camera and the robot body, and the second installation distance between the ground penetrating radar and the robot body. According to the size information of the pavement detection robot, the step of determining the missed detection distance of the pavement detection robot when detecting each detection area comprises:

[0077] According to the size of the pavement detection robot body, the geometric center of the robot is obtained;

[0078] According to the geometric center and the first installation distance, the distance between the camera and the geometric center is obtained;

[0079] According to the geometric center and the second installation distance, the distance between the ground penetrating radar and the geometric center is obtained;

[0080] According to the distance between the camera and the geometric center, the distance between the ground penetrating radar and the geometric center, the missed detection distance is obtained.

[0081] Please refer to Figure 4 In the embodiment, the pavement detection robot includes a camera 2 and a ground penetrating radar 3 arranged opposite at two ends of the pavement detection robot, and the camera 2 is located at the detection front end of the pavement detection robot, and the ground penetrating radar 3 is located at the detection rear end of the pavement detection robot, and the camera 2 and the ground penetrating radar 3 are both used for collecting information of the pavement to be detected. Correspondingly, in the embodiment, the size information of the pavement detection robot includes the size of the pavement detection robot body 1, the first installation distance between the camera 2 and the robot body 1, and the second installation distance between the ground penetrating radar 3 and the robot body 1.

[0082] When the pavement detection robot is positioned or translated and turned, there is a reference point. When the reference point reaches the coordinate point of the turning point in the set path, the robot is controlled to translate and turn with the reference point as the center. The reference point is generally a point such as the center point of the pavement detection robot which can represent the position of the pavement detection robot. In the embodiment, the reference point is the geometric center 4 of the pavement detection robot, that is, when the geometric center 4 of the pavement detection robot travels to the turning coordinate point of the set travel path, the geometric center 4 is taken as the reference point to turn.

[0083] In the embodiment, the reference point for turning and positioning is the geometric center 4 of the pavement detection robot, and the geometric center 4 of the pavement detection robot is determined according to the size of the pavement detection robot body 1. In order to obtain the missed detection distance of the pavement detection robot, it is necessary to determine the missed detection distance of the pavement detection robot when turning according to the installation distances of the camera 2 and the ground penetrating radar 3 arranged on the pavement detection robot body 1 and the pavement detection robot body 1. The camera 2 of the pavement detection robot is fixed on the pavement detection robot body 1 by a mounting bracket or the like, and has a certain distance from the pavement detection robot body 1, which is the first installation distance. Correspondingly, the ground penetrating radar 3 also has a second installation distance from the pavement detection robot body 1. According to the geometric center 4 and the first installation distance, the distance A between the camera and the geometric center is obtained, which is the missed detection distance of the camera 2 when the pavement detection robot turns. According to the geometric center 4 and the second installation distance, the distance B between the ground penetrating radar and the geometric center is obtained, which is the missed detection distance of the ground penetrating radar 3 when the pavement detection robot translates and turns. For example, the distance A between the camera and the geometric center is 1 meter, and the distance B between the ground penetrating radar and the geometric center is 1.5 meters, so the missed detection distance of the camera is 1 meter, and the missed detection distance of the ground penetrating radar is 1.5 meters. According to the missed detection distance of the camera and the missed detection distance of the ground penetrating radar, the missed detection distance can be determined.

[0084] Optionally, in the embodiment, the step of obtaining the distance between the camera and the geometric center according to the geometric center and the first installation distance comprises:

[0085] obtaining a third installation distance between the geometric center and the installation position of the camera according to the geometric center and the installation position of the camera on the pavement detection robot body;

[0086] obtaining the distance between the camera and the geometric center according to the first installation distance and the third installation distance.

[0087] The third installation distance is the distance between the installation position of the camera and the geometric center, and the installation position of the camera in the embodiment is the fixed point of the installation support of the camera on the pavement detection robot body. The sum of the first installation distance and the third installation distance is the distance between the camera and the geometric center.

[0088] Optionally, in the embodiment, the step of obtaining the distance between the ground penetrating radar and the geometric center according to the geometric center and the second installation distance comprises:

[0089] obtaining a fourth installation distance between the geometric center and the installation position of the ground penetrating radar according to the geometric center and the installation position of the ground penetrating radar on the pavement detection robot body;

[0090] obtaining the distance between the ground penetrating radar and the geometric center according to the second installation distance and the fourth installation distance.

[0091] The fourth installation distance is the distance between the installation position of the ground penetrating radar and the geometric center, and the installation position of the ground penetrating radar in the embodiment is the fixed point of the installation support of the ground penetrating radar on the pavement detection robot body. The sum of the second distance and the fourth installation distance is the distance between the ground penetrating radar and the geometric center.

[0092] Optionally, in the embodiment, the step of obtaining the missed detection distance according to the distance between the camera and the geometric center and the distance between the ground penetrating radar and the geometric center comprises:

[0093] calculating the sum of the distance between the camera and the geometric center and the distance between the ground penetrating radar and the geometric center to obtain the missed detection distance;

[0094] or, comparing the distance between the camera and the geometric center with the distance between the ground penetrating radar and the geometric center, and setting the larger distance as the target distance;

[0095] obtaining the missed detection distance according to the target distance.

[0096] In the embodiment, the missed detection distance is the length of the area overlapped by the pavement detection robot and the current detection area when the pavement detection robot performs detection work and translation and steering in the current detection area. The position of the camera at the detection front end of the pavement detection robot and the position of the ground penetrating radar at the detection rear end of the pavement detection robot change after the pavement detection robot performs translation and steering with the geometric center of the pavement detection robot as the reference. When the geometric center of the pavement detection robot reaches the detection termination boundary of the current detection area, translation and steering need to be performed to translate to the adjacent undetected area. Before translation, the distance between the ground penetrating radar at the detection rear end and the geometric center is the missed detection distance of the ground penetrating radar. After translation and steering, the distance between the camera at the detection front end and the geometric center is the missed detection distance of the camera.

[0097] Based on this, in the embodiment, when the missed detection distance of the pavement detection robot is determined according to the missed detection distance of the camera and the missed detection distance of the ground penetrating radar, in order to ensure that the detection information of the entire pavement to be detected can be finally spliced, the missed detection distance of the pavement detection robot is the sum of the distance between the camera and the geometric center and the distance between the ground penetrating radar and the geometric center. As shown in FIG. 6, in order to ensure complete detection of the pavement to be detected, the sum of the distance A between the camera and the geometric center and the distance B between the ground penetrating radar and the geometric center, that is, A+B, is the missed detection distance of the pavement detection robot. Figure 4

[0098] In the embodiment, in order to save detection time, the distance between the camera and the geometric center and the distance between the ground penetrating radar and the geometric center are compared, and the larger distance is set as the target distance. The missed detection distance is only required to be greater than or equal to the target distance. That is, the distance A between the camera and the geometric center and the distance B between the ground penetrating radar and the geometric center are compared. If the distance B between the ground penetrating radar and the geometric center is greater than the distance A between the camera and the geometric center, the missed detection distance is greater than or equal to the distance B between the ground penetrating radar and the geometric center. The calculation method of the missed detection distance is not specifically limited in the embodiment, and can be adjusted according to requirements by those skilled in the art.

[0099] Optionally, in the embodiment, the step of determining the work start points corresponding to the detection areas according to the missed detection distances of the pavement detection robot when the pavement detection robot detects the detection areas comprises the following steps.

[0100] The detection start boundaries of the detection areas are determined according to the detection direction of the pavement detection robot.

[0101] The work start point boundaries of the detection areas are determined according to the detection start boundaries of the detection areas and the missed detection distances. The distance between the detection start boundary and the work start point boundary of each detection area is greater than or equal to the missed detection distance, and the direction from the work start point boundary to the detection start boundary is the detection direction of the pavement detection robot. ​

[0102] According to the work starting point boundary, the work starting point is determined.

[0103] The detection direction of the pavement detection robot is the detection direction of the to-be-detected pavement. According to the detection direction of the pavement detection robot, the detection starting boundary of each detection area can be determined. For example, please refer to Figure 4 When detecting the to-be-detected pavement, the detection direction of the pavement detection robot is from south to north. Therefore, the detection starting boundary 5 of each detection area is the boundary of the north side of each detection area.

[0104] In this embodiment, after the detection starting boundary 5 of each detection area is obtained, the work starting point boundary can be determined according to the missed detection distance. The interval between the work starting point boundary and the detection starting boundary 5 is greater than or equal to the missed detection distance, and the direction from the work starting point boundary to the detection starting boundary is the detection direction of the pavement detection robot. For example, the detection direction of the pavement detection robot is from south to north, and the missed detection distance is 2 meters. Therefore, the work starting point boundary of the current detection area is located on the north side of the detection starting boundary 5, and the distance between the work starting point boundary and the detection starting boundary is greater than or equal to the missed detection distance.

[0105] In this embodiment, after the current work starting point boundary of the detection area is determined, the work starting point is any point on the work starting point boundary that can coincide with the geometric center of the pavement detection robot. After the work starting points of each detection area are determined, the path planning is performed according to the work starting points of each detection area, and each detection area is detected respectively, so that the complete detection information of the to-be-detected pavement can be obtained.

[0106] Please refer to Figure 4 The work starting point determination method provided in this embodiment moves the work starting point boundary 61 of the current detection area forward relative to the detection starting boundary 5, and the interval between the work starting point boundary 61 of the current detection area and the detection starting boundary 5 of the current detection area 7 is greater than or equal to the missed detection distance, so that the overlapping area of the pavement detection robot at the detection starting boundary 5 of the current detection area 7 can be detected. The overlapping area of the current detection area 7 at the detection termination boundary of the current detection area 7 is within the work starting point boundary 62 of the next detection area, and can be detected when the detection task of the next detection area is performed. Finally, when each detection area in the to-be-detected pavement is spliced, the complete detection information of the to-be-detected pavement can be obtained.

[0107] This invention provides a method for determining the starting point of a pavement inspection robot. After obtaining the robot's dimensions and effective inspection length, the pavement to be inspected is divided into multiple inspection areas based on the effective inspection length. Then, the starting point of the inspection is determined for each inspection area based on the robot's dimensions. Thus, by dividing the pavement to be inspected into multiple inspection areas based on the robot's dimensions and effective inspection length, and determining the starting point for each inspection area, the inspection of each area can be performed according to its corresponding starting point, enabling complete and accurate inspection of the pavement.

[0108] Based on the same inventive concept, please refer to the following: Figure 5 This embodiment also provides a work start point determination device 10, which is applied... Figure 2 The electronic device shown, the work start point determination device 10, is applied to the pavement inspection robot, such as... Figure 5 As shown, the work start point determination device provided in this embodiment includes:

[0109] Data acquisition module 11 is used to acquire the size information and effective detection length of the pavement inspection robot;

[0110] The division module 12 is used to divide the pavement to be inspected into multiple inspection areas according to the effective inspection length;

[0111] The calculation module 13 is used to determine the starting point of each inspection area based on the size information of the pavement inspection robot.

[0112] In an optional implementation, the calculation module 13 is used for:

[0113] Based on the size information of the pavement inspection robot, the missed detection distance of the pavement inspection robot when inspecting each inspection area is determined;

[0114] Based on the missed detection distance of the pavement inspection robot when inspecting each inspection area, the starting point of the operation corresponding to each inspection area is determined.

[0115] In an optional embodiment, the pavement inspection robot includes a camera and a ground-penetrating radar. The camera and the ground-penetrating radar are positioned opposite each other at both ends of the pavement inspection robot body, with the camera located at the detection front end and the ground-penetrating radar located at the detection rear end. The dimensional information includes the dimensions of the pavement inspection robot body, a first installation distance between the camera and the robot body, and a second installation distance between the ground-penetrating radar and the robot body. The calculation module 13 is further used for:

[0116] The geometric center of the robot is obtained by detecting the dimensions of the robot body based on the pavement surface.

[0117] According to the geometric center and the first installation distance, a distance between the camera and the geometric center is obtained;

[0118] According to the geometric center and the second installation distance, a distance between the ground penetrating radar and the geometric center is obtained;

[0119] According to the distance between the camera and the geometric center and the distance between the ground penetrating radar and the geometric center, a missed detection distance is obtained.

[0120] In an optional implementation, the computing module 13 is further configured to:

[0121] According to the geometric center and an installation position of the camera on the pavement detection robot body, a third installation distance between the geometric center and the installation position of the camera is obtained;

[0122] According to the first installation distance and the third installation distance, the distance between the camera and the geometric center is obtained.

[0123] In an optional implementation, the computing module 13 is further configured to:

[0124] According to the geometric center and an installation position of the ground penetrating radar on the pavement detection robot body, a fourth installation distance between the geometric center and the installation position of the ground penetrating radar is obtained;

[0125] According to the second installation distance and the fourth installation distance, the distance between the ground penetrating radar and the geometric center is obtained.

[0126] In an optional implementation, the computing module 13 is further configured to:

[0127] The sum of the distance between the camera and the geometric center and the distance between the ground penetrating radar and the geometric center is calculated to obtain the missed detection distance;

[0128] Or, the distance between the camera and the geometric center and the distance between the ground penetrating radar and the geometric center are compared, and the larger distance is set as a target distance;

[0129] According to the target distance, the missed detection distance is determined.

[0130] In an optional implementation, the computing module 13 is further configured to:

[0131] According to a detection direction of the pavement detection robot, a detection starting boundary of each detection area is determined;

[0132] According to the detection starting boundary of each detection area and the missed detection distance, a work starting point boundary of each detection area is determined; the distance between the detection starting boundary and the work starting point boundary of each detection area is greater than or equal to the missed detection distance, and the direction from the work starting point boundary to the detection starting boundary is the detection direction of the pavement detection robot;

[0133] According to the work starting point boundary, a work starting point is determined.

[0134] The embodiment of the present application provides a work starting point determination device, which is applied to a pavement detection robot, obtains size information of the pavement detection robot and an effective detection length, divides a pavement to be detected into a plurality of detection areas according to the effective detection length, and determines work starting points of the detection areas according to the size information of the pavement detection robot. In this way, the pavement to be detected is divided into the plurality of detection areas according to the size information of the pavement detection robot and the effective detection length, and the work starting points of the detection areas are determined, the detection areas are detected according to the work starting points corresponding to the detection areas, and the pavement to be detected can be completely and accurately detected.

[0135] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the work starting point determination device 10 described above can refer to the corresponding process in the foregoing method, and will not be described in detail here.

[0136] On the basis of the foregoing, the embodiment provides a storage medium, the storage medium storing a computer program, and the computer program is executed by a processor to implement the work starting point determination method of any of the foregoing embodiments.

[0137] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the storage medium described above can refer to the corresponding process in the foregoing method, and will not be described in detail here.

[0138] To sum up, the work starting point determination method, device, electronic equipment and storage medium provided by the embodiment of the present application are applied to a pavement detection robot, obtain size information of the pavement detection robot and an effective detection length, divide a pavement to be detected into a plurality of detection areas according to the effective detection length, and determine work starting points of the detection areas according to the size information of the pavement detection robot. The missed detection distance of the pavement detection robot can be obtained according to the size information of the pavement detection robot, the work starting point boundary of each detection area can be obtained according to the missed detection distance and the missed detection direction of the pavement detection robot, and any point on the work starting point boundary, which coincides with the geometric center of the pavement detection robot, can be used as the work starting point of the pavement detection robot. In this way, the work starting points corresponding to the detection areas are determined according to the size information of the pavement detection robot, the detection areas are detected according to the work starting points corresponding to the detection areas, and the pavement to be detected can be completely and accurately detected.

[0139] The above is only various embodiments of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A work starting point determination method characterized by comprising: The application is applied to a pavement detection robot, which comprises a camera and a ground penetrating radar, the camera and the ground penetrating radar are arranged at two ends of the pavement detection robot body respectively, the camera is located at the detection front end of the pavement detection robot, and the ground penetrating radar is located at the detection rear end of the pavement detection robot; the method comprises: obtaining the size information and the effective detection length of the pavement detection robot; the size information comprises the size of the pavement detection robot body, the first installation distance of the camera and the robot body, and the second installation distance of the ground penetrating radar and the robot body; dividing the pavement to be detected into a plurality of detection areas according to the effective detection length; determining the work starting point of each detection area according to the size information of the pavement detection robot.

2. The work starting point determination method according to claim 1, characterized by, The step of determining the work starting point of each detection area according to the size information of the pavement detection robot comprises: determining the missed detection distance of the pavement detection robot when detecting each detection area according to the size information of the pavement detection robot; determining the corresponding work starting point of each detection area according to the missed detection distance of the pavement detection robot when detecting each detection area.

3. The work starting point determination method according to claim 2, characterized by, The step of determining the missed detection distance of the pavement detection robot when detecting each detection area comprises: obtaining the geometric center of the robot according to the size of the pavement detection robot body; obtaining the distance between the camera and the geometric center according to the geometric center and the first installation distance; obtaining the distance between the ground penetrating radar and the geometric center according to the geometric center and the second installation distance; obtaining the missed detection distance according to the distance between the camera and the geometric center and the distance between the ground penetrating radar and the geometric center.

4. The work starting point determination method according to claim 3, characterized by, The step of obtaining the distance between the camera and the geometric center according to the geometric center and the first installation distance comprises: obtaining the third installation distance between the geometric center and the installation position of the camera on the pavement detection robot body according to the geometric center and the installation position of the camera on the pavement detection robot body; obtaining the distance between the camera and the geometric center according to the first installation distance and the third installation distance.

5. The work starting point determination method according to claim 3, characterized by, The step of obtaining the distance between the ground penetrating radar and the geometric center according to the geometric center and the second installation distance comprises: obtaining the fourth installation distance between the geometric center and the installation position of the ground penetrating radar on the pavement detection robot body according to the geometric center and the installation position of the ground penetrating radar on the pavement detection robot body; obtaining the distance between the ground penetrating radar and the geometric center according to the second installation distance and the fourth installation distance.

6. The work starting point determination method according to claim 3, characterized by, The step of obtaining the missed detection distance according to the distance between the camera and the geometric center and the distance between the ground penetrating radar and the geometric center comprises: calculating the sum of the distance between the camera and the geometric center and the distance between the ground penetrating radar and the geometric center to obtain the missed detection distance; Or, the distance between the camera and the geometric center and the distance between the ground penetrating radar and the geometric center are compared, and the larger distance is set as the target distance; According to the target distance, the missed detection distance is determined.

7. The work starting point determination method according to claim 2, characterized by, The step of determining the work starting point corresponding to each detection area according to the missed detection distance of the pavement detection robot when detecting each detection area comprises: According to the detection direction of the pavement detection robot, the detection starting boundary of each detection area is determined; According to the detection starting boundary and the missed detection distance of each detection area, the work starting point boundary of each detection area is determined; the distance between the detection starting boundary and the work starting point boundary of each detection area is greater than or equal to the missed detection distance, and the direction from the work starting point boundary to the detection starting boundary is the detection direction of the pavement detection robot; According to the work starting point boundary, the work starting point is determined.

8. A pavement detecting robot operation starting point determination device characterized by comprising: Comprise: The data acquisition module is used for acquiring the size information and the effective detection length of the pavement detection robot; the pavement detection robot comprises a camera and a ground penetrating radar, the camera and the ground penetrating radar are arranged at the two ends of the pavement detection robot body in opposite directions, and the camera is located at the detection front end of the pavement detection robot, and the ground penetrating radar is located at the detection rear end of the pavement detection robot; the size information comprises the size of the pavement detection robot body, the first installation distance between the camera and the robot body, and the second installation distance between the ground penetrating radar and the robot body; The division module is used for dividing the pavement to be detected into a plurality of detection areas according to the target detection length and the effective detection length; The calculation module is used for determining the work starting point of each detection area according to each detection area and the size information of the pavement detection robot.

9. An electronic device, comprising: The electronic device comprises a memory, a processor and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to realize the work starting point determination method of any one of claims 1 to 7.

10. A storage medium, characterized by The storage medium stores a computer program, and the computer program is executed by the processor to realize the work starting point determination method of any one of claims 1 to 7.

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