Ground flatness detection method, acquisition equipment and electronic equipment

Abstract

The embodiment of the invention provides a ground flatness detection method, acquisition equipment and electronic equipment, and the method comprises the steps: for a plurality of target regions, obtaining point cloud data obtained by collecting the ground of the target regions through a sensor, taking the point cloud data as point cloud data corresponding to the target regions, and enabling each target region to be a neighborhood of a target point location, the target point locations are uniformly distributed in the ground to be measured; for each target area, fitting a plane equation of a plane where each point in the point cloud data corresponding to the target area is located as a plane equation of the target area; for each target area, calculating the fluctuation degree of the plane represented by the plane equation of the target area relative to the ground plane where the target area is located, and taking the fluctuation degree as the flatness of the target area; and correspondingly displaying the position and flatness of each target area. By applying the technical scheme provided by the embodiment of the invention, the ground flatness can be detected, and the flatness detection result is visually presented to a user.

Description

Technical Field

[0001] The present application relates to the technical field of industrial mobile robots, and in particular to a ground flatness detection method, acquisition equipment and electronic equipment. Background Art

[0002] At present, robots are usually used to move goods in warehouses to reduce labor costs. As warehouse utilization increases, the height of shelves and robots continues to increase, but the gap between the robot and the shelf aisle has not been widened, and the robot's running speed has not decreased. In this scenario, slight ground fluctuations may cause the robot to shake and rub against the shelf, leading to serious accidents. Severe fluctuations may even cause the robot's wheels to slip and cause loss of control. Therefore, for such scenarios, it is crucial to detect the flatness of the ground during the early construction and present the flatness test results to the user intuitively. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a ground flatness detection method, a collection device, and an electronic device to solve the problem of how to detect ground flatness and intuitively present the flatness detection result to the user. The specific technical solution is as follows:

[0004] In a first aspect, an embodiment of the present application provides a method for detecting ground flatness, the method comprising:

[0005] For multiple target areas, point cloud data obtained by sensors collecting ground data of the target areas are obtained as point cloud data corresponding to the target areas, each of the target areas is a neighborhood of a target point, and each of the target points is a point evenly distributed in the ground to be measured;

[0006] For each of the target areas, fitting the plane equation of the plane where each point in the point cloud data corresponding to the target area is located as the plane equation of the target area;

[0007] For each of the target areas, calculating the degree of undulation of the plane represented by the plane equation of the target area relative to the ground plane where the target area is located as the flatness of the target area;

[0008] The position and the flatness of each target area are displayed accordingly.

[0009] In some embodiments, the area where the ground to be measured is located is pre-divided into a plurality of grid areas of preset length and preset width in the target map, and the sensor collects point cloud data of the ground of each target area in the following manner, including:

[0010] Determine a plurality of target points according to the divided grid areas, wherein the target points are corner points of the grid areas, or center points in each macro grid, and the macro grid is obtained by dividing the grid areas in an n×n manner;

[0011] For each of the target points, the acquisition device equipped with the sensor is controlled to move until the center of the sensor's field of view coincides with the target point, and the sensor is controlled to collect point cloud data to generate a target area with the target point as the center point, and the collected point cloud data is used as the point cloud data obtained by collecting the ground of the generated target area.

[0012] In some embodiments, the length of the field of view of the sensor is greater than the preset length and less than twice the preset length, and the width of the field of view of the sensor is greater than the preset width and less than twice the preset width.

[0013] Determining a plurality of target points according to the divided grid areas includes:

[0014] Determine the corner points of all the grid areas as target points;

[0015] or,

[0016] The sensor's field of view length is equal to m times the preset length, and the sensor's field of view width is equal to m times the preset width,

[0017] Determining multiple target points according to the divided grid areas includes:

[0018] Divide each grid area into a plurality of acquisition blocks of size m×m, and take the center point of each acquisition block as the target point;

[0019] The interval between the center points of any two adjacent acquisition blocks is less than or equal to (m / 2+1) grid areas; and m is an odd number greater than or equal to 3.

[0020] In some embodiments, a plurality of grid areas of preset lengths and preset widths are pre-marked on the ground to be measured;

[0021] The sensor collects point cloud data of the ground of each target area in the following manner, including:

[0022] In response to the point cloud collection instruction, collecting point cloud data of the ground to be measured within the field of view;

[0023] For multiple target areas, obtaining point cloud data obtained by sensors collecting ground points in the target areas as point cloud data corresponding to the target areas includes:

[0024] A plurality of point cloud data collected by the sensor and a target area input for each of the point cloud data are acquired, and each of the point cloud data is used as point cloud data corresponding to the target area input for the point cloud data.

[0025] In some embodiments, the corresponding display of the position and the flatness of each target area includes:

[0026] Displaying a heat map consisting of X blocks, where X is the number of the target areas, each block corresponds to one target area, and different blocks correspond to different target areas, the relative position relationship between any two blocks in the heat map is consistent with the relative position relationship between the target areas corresponding to the two blocks, and the color of each block is used to indicate the flatness of the target area corresponding to the block; or,

[0027] A flatness map consisting of Y blocks is displayed, wherein Y is the number of the target areas, each block corresponds to one target area, and different blocks correspond to different target areas, the relative position relationship between any two blocks in the flatness map is consistent with the relative position relationship between the target areas corresponding to the two blocks respectively, and the target areas with flatness less than a preset threshold are displayed in a first display mode, and the target areas with flatness greater than the preset threshold are displayed in a second display mode, and the first display mode is different from the second display mode.

[0028] In some embodiments, for each of the target areas, calculating the degree of undulation of a plane represented by the plane equation of the target area relative to a ground plane where the target area is located as the flatness of the target area includes:

[0029] For each of the target areas, the vertical distances of each point on the plane represented by the plane equation of the target area relative to the ground plane where the target area is located are calculated to obtain a first reference point and a second reference point of each of the target areas; the first reference point is the point in the plane represented by the plane equation of the target area with the largest distance from the ground plane where the target area is located, and the second reference point is the point in the plane represented by the plane equation of the target area with the smallest distance from the ground plane where the target area is located;

[0030] The flatness of the target area is determined according to the first reference point and the second reference point of each target area and the area of ​​the target area.

[0031] In some embodiments, according to the first reference point and the second reference point of the target area and the area of ​​the target area, the flatness of the target area is determined by the following formula:

[0032] ;

[0033] Wherein, δ represents the flatness of the target area, maxD represents the first reference point of the target area, minD represents the second reference point of the target area, and S represents the area of ​​the target area.

[0034] In a second aspect, an embodiment of the present application provides a collection device, the collection device comprising a movable chassis, a bracket, a horizontal rod, and a sensor;

[0035] The bracket is fixed to the movable chassis; one end of the horizontal rod is installed on the bracket; the sensor is connected to the other end of the horizontal rod; the movable chassis is used to drive the sensor to implement any of the above-mentioned ground flatness detection methods;

[0036] The collecting field of view of the sensor in the target direction does not fall on the movable chassis, and the target direction is the direction in which the movable chassis is located relative to the sensor.

[0037] In some embodiments, the support is provided with a vertically retractable structure, and the vertically retractable structure can be retracted in a vertical direction to adjust the distance between the horizontal rod and the upper surface of the movable chassis;

[0038] The horizontal rod is provided with a horizontally retractable structure, and the horizontally retractable structure can be retracted in the horizontal direction to adjust the distance between the sensor and the bracket;

[0039] Wherein, the vertical telescopic structure includes a vertical damping component, and the vertical damping component is used to limit the telescopic movement of the vertical telescopic structure; the horizontal telescopic structure includes a horizontal damping component, and the horizontal damping component is used to limit the telescopic movement of the horizontal telescopic structure.

[0040] In a third aspect, an embodiment of the present application provides a ground flatness detection device, the device comprising:

[0041] A point cloud data acquisition module is used to acquire point cloud data obtained by sensors collecting ground in multiple target areas as point cloud data corresponding to the target areas, each of the target areas is a neighborhood of a target point, and each of the target points is a point evenly distributed in the ground to be measured;

[0042] A plane equation fitting module, used for fitting, for each target area, the plane equation of the plane where each point in the point cloud data corresponding to the target area is located, as the plane equation of the target area;

[0043] A flatness determination module, for calculating, for each of the target areas, the degree of undulation of a plane represented by the plane equation of the target area relative to a ground plane where the target area is located, as the flatness of the target area;

[0044] The flatness display module is used to display the position and the flatness of each target area accordingly.

[0045] In some embodiments, the area where the ground to be measured is located is pre-divided into a plurality of grid areas of preset length and preset width in the target map, and the sensor collects point cloud data of the ground of each target area in the following manner, including:

[0046] Determine a plurality of target points according to the divided grid areas, wherein the target points are corner points of the grid areas, or center points in each macro grid, and the macro grid is obtained by dividing the grid areas in an n×n manner;

[0047] For each of the target points, the acquisition device equipped with the sensor is controlled to move until the center of the sensor's field of view coincides with the target point, and the sensor is controlled to collect point cloud data to generate a target area with the target point as the center point, and the collected point cloud data is used as the point cloud data obtained by collecting the ground of the generated target area.

[0048] In some embodiments, the length of the field of view of the sensor is greater than the preset length and less than twice the preset length, and the width of the field of view of the sensor is greater than the preset width and less than twice the preset width.

[0049] Determining a plurality of target points according to the divided grid areas includes:

[0050] Determine the corner points of all the grid areas as target points;

[0051] or,

[0052] The sensor's field of view length is equal to m times the preset length, and the sensor's field of view width is equal to m times the preset width,

[0053] Determining multiple target points according to the divided grid areas includes:

[0054] Divide each grid area into a plurality of acquisition blocks of size m×m, and take the center point of each acquisition block as the target point;

[0055] The interval between the center points of any two adjacent acquisition blocks is less than or equal to (m / 2+1) grid areas; and m is an odd number greater than or equal to 3.

[0056] In some embodiments, a plurality of grid areas of preset lengths and preset widths are pre-marked on the ground to be measured;

[0057] The sensor collects point cloud data of the ground of each target area in the following manner, including:

[0058] In response to the point cloud collection instruction, collecting point cloud data of the ground to be measured within the field of view;

[0059] The point cloud data acquisition module is specifically used for:

[0060] A plurality of point cloud data collected by the sensor and a target area input for each of the point cloud data are acquired, and each of the point cloud data is used as point cloud data corresponding to the target area input for the point cloud data.

[0061] In some embodiments, the flatness display module is specifically used for:

[0062] Displaying a heat map consisting of X blocks, where X is the number of the target areas, each block corresponds to one target area, and different blocks correspond to different target areas, the relative position relationship between any two blocks in the heat map is consistent with the relative position relationship between the target areas corresponding to the two blocks, and the color of each block is used to indicate the flatness of the target area corresponding to the block; or,

[0063] A flatness map consisting of Y blocks is displayed, wherein Y is the number of the target areas, each block corresponds to one target area, and different blocks correspond to different target areas, the relative position relationship between any two blocks in the flatness map is consistent with the relative position relationship between the target areas corresponding to the two blocks respectively, and the target areas with flatness less than a preset threshold are displayed in a first display mode, and the target areas with flatness greater than the preset threshold are displayed in a second display mode, and the first display mode is different from the second display mode.

[0064] In some embodiments, the flatness determination module is specifically used to:

[0065] For each of the target areas, the vertical distances of each point on the plane represented by the plane equation of the target area relative to the ground plane where the target area is located are calculated to obtain a first reference point and a second reference point of each of the target areas; the first reference point is the point in the plane represented by the plane equation of the target area with the largest distance from the ground plane where the target area is located, and the second reference point is the point in the plane represented by the plane equation of the target area with the smallest distance from the ground plane where the target area is located;

[0066] The flatness of the target area is determined according to the first reference point and the second reference point of each target area and the area of ​​the target area.

[0067] In some embodiments, according to the first reference point and the second reference point of the target area and the area of ​​the target area, the flatness of the target area is determined by the following formula:

[0068] ;

[0069] Wherein, δ represents the flatness of the target area, maxD represents the first reference point of the target area, minD represents the second reference point of the target area, and S represents the area of ​​the target area.

[0070] In a fourth aspect, an embodiment of the present application further provides an electronic device, including:

[0071] Memory, used to store computer programs;

[0072] The processor is used to implement any of the above-mentioned ground flatness detection methods when executing the program stored in the memory.

[0073] In a fifth aspect, the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements any of the above-mentioned ground flatness detection methods.

[0074] In a sixth aspect, an embodiment of the present application further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the above-described ground flatness detection methods.

[0075] Beneficial effects of the embodiments of the present application:

[0076] In the technical solution provided in the embodiment of the present application, multiple target points are determined in the ground to be measured, and each target point is evenly distributed in the ground to be measured. The neighborhood of each target point is determined as a target area. For each target area, point cloud data obtained by the sensor collecting the ground of the target area is obtained as the point cloud data corresponding to each target area. It can be understood that since the target point cloud is evenly distributed in the ground to be measured, when there are enough target point clouds, each target area is small. Therefore, the ground of each target area can be regarded as a plane. Therefore, for each target area, the plane equation of the plane where each point in the point cloud data corresponding to the target area is fitted as the plane equation of the target area; further, for each target area, the degree of undulation of the plane represented by the plane equation of the target area relative to the ground plane where the target area is located is calculated as the flatness of the target area. After that, the position and flatness of each target area are displayed accordingly, thereby realizing the detection of the flatness of the ground to be measured, and intuitively presenting the flatness of each target area in the ground to be measured to the user.

[0077] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0079] Figure 1 A schematic diagram of a warehouse scenario provided in an embodiment of the present application;

[0080] Figure 2 A schematic diagram of a robot provided in an embodiment of the present application;

[0081] Figure 3 A schematic diagram of a flow chart of a ground flatness detection method provided in an embodiment of the present application;

[0082] Figure 4 A schematic diagram of a ground profile provided in an embodiment of the present application;

[0083] Figure 5 A first schematic diagram showing the flatness of the ground to be measured provided in an embodiment of the present application;

[0084] Figure 6 A second schematic diagram showing the flatness of the ground to be measured provided in an embodiment of the present application;

[0085] Figure 7A third schematic diagram showing the flatness of the ground to be measured provided in an embodiment of the present application;

[0086] Figure 8 The aforementioned embodiments provided in this application Figure 3 A detailed schematic diagram of step S31 in FIG.

[0087] Fig. 9 A schematic diagram of a target point provided in an embodiment of the present application;

[0088] Fig.10 A schematic diagram of a shooting field of view provided in an embodiment of the present application;

[0089] Fig.11 A schematic diagram of an overlapping area provided in an embodiment of the present application;

[0090] Fig.12 Another schematic diagram of a target point provided in an embodiment of the present application;

[0091] Fig.13 Another schematic diagram of a shooting field of view provided in an embodiment of the present application;

[0092] Fig.14 Another schematic diagram of the overlapping area provided in the embodiment of the present application;

[0093] Fig.15 A schematic diagram of a collection device provided in an embodiment of the present application;

[0094] Fig.16 A schematic diagram of the structure of a ground flatness detection device provided in an embodiment of the present application;

[0095] Fig.17 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0096] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0097] Ground flatness detection is mostly used in the fields of construction, engineering and infrastructure, and the technical focus is generally on the equipment itself. However, the equipment used for flatness detection is usually large and has complex internal structures. However, for storage-type scenes, especially relatively narrow storage-type scenes, such large flatness detection equipment is not suitable.

[0098] Moreover, with the continuous iteration of technology, in the field of industrial mobile robots, various forms have been derived from the initial low-profile handling robots, including the increasingly widely used box-to-person robots. Box-to-person robots are robots that work in dense high-level shelf areas. They can pick and place boxes of various heights through forks that can move up and down over a large range, which can bring users higher storage capacity.

[0099] In order to further improve the space utilization of the warehouse, the height of the shelves and robots has been continuously increased, but the gap between the robots and the shelf aisles has not been widened, and the speed of the robots has not been reduced. Figure 1 The warehouse scene shown and Figure 2 In this scenario, even slight ground undulations may cause the robot to shake and rub against the shelf, leading to a serious accident. Severe ground undulations may even cause the robot wheels to slip, leading to loss of control. Therefore, for such scenarios, how to detect the flatness of the ground and present the flatness test results to the user intuitively in the early stage of construction is an urgent problem to be solved.

[0100] In the related art, the flatness of the ground is usually measured manually, such as using a laser level, a triangle ruler, etc. to manually measure and record points. This is inefficient and has a low density of measurement points, which is prone to manual operation deviations.

[0101] In order to detect the flatness of the ground and intuitively present the flatness detection result to the user, the embodiment of the present application provides a ground flatness detection method. The ground flatness detection method provided in the embodiment of the present application is applied to an electronic device, which can be a desktop computer, a portable computer, a smart mobile terminal, etc.

[0102] The ground flatness detection method provided in the embodiment of the present application directly uses a three-dimensional (3D) sensor to collect point cloud data of the ground to be tested, and then directly calculates the flatness information after algorithm processing, and finally combines it with visual display to achieve a more intelligent and automatic ground flatness detection function, which greatly improves the efficiency and reliability of flatness calculation.

[0103] The ground flatness detection method provided by the present application is described in detail below through specific examples.

[0104] See also Figure 3 , Figure 3 A schematic flow chart of a method for detecting ground flatness provided in an embodiment of the present application includes the following steps:

[0105] Step S31: for multiple target areas, obtaining point cloud data obtained by sensors collecting ground in the target areas as point cloud data corresponding to the target areas, each target area is a neighborhood of a target point, and each target point is a point evenly distributed in the ground to be measured;

[0106] Step S32: for each target area, fitting the plane equation of the plane where each point in the point cloud data corresponding to the target area is located as the plane equation of the target area;

[0107] Step S33: for each target area, calculating the degree of undulation of the plane represented by the plane equation of the target area relative to the ground plane where the target area is located, as the flatness of the target area;

[0108] Step S34: Display the position and flatness of each target area accordingly.

[0109] In the technical solution provided in the embodiment of the present application, multiple target points are determined in the ground to be measured, and each target point is evenly distributed in the ground to be measured. The neighborhood of each target point is determined as a target area. For each target area, point cloud data obtained by the sensor collecting the ground of the target area is obtained as the point cloud data corresponding to each target area. It can be understood that since the target point cloud is evenly distributed in the ground to be measured, when there are enough target point clouds, each target area is small. Therefore, the ground of each target area can be regarded as a plane. Therefore, for each target area, the plane equation of the plane where each point in the point cloud data corresponding to the target area is fitted as the plane equation of the target area; further, for each target area, the degree of undulation of the plane represented by the plane equation of the target area relative to the ground plane where the target area is located is calculated as the flatness of the target area. After that, the position and flatness of each target area are displayed accordingly, thereby realizing the detection of the flatness of the ground to be measured, and intuitively presenting the flatness of each target area in the ground to be measured to the user.

[0110] In the above step S31, the ground to be tested is the ground whose flatness needs to be tested; the target point is a point determined and evenly distributed in the ground to be tested; the neighborhood of the target point can be understood as an area centered on the target point;

[0111] In an embodiment of the present application, the size of the sensor's field of view can be set to be the same as the size of the target area. After determining multiple target points, the multiple target points can be input into an electronic device, and the electronic device controls the movement of the sensor until the center of the sensor's field of view is aligned with the target point. At this time, the ground area in the acquisition field of view is the neighborhood of the target point, that is, the target area corresponding to the target point. Therefore, by controlling the center of the sensor's acquisition field of view to align with each target point one by one, point cloud data corresponding to each target area can be obtained.

[0112] In some embodiments, the user may also manually move the sensor to align the center of the sensor's field of view with the target point, thereby obtaining point cloud data corresponding to each target area.

[0113] In another embodiment, multiple grid areas with a preset length and a preset width can be pre-marked on the ground to be measured. For example, the multiple grid areas can be projected onto the ground to be measured, or the multiple grid areas can be directly drawn on the ground to be measured. When the center of the sensor's field of view is aligned with the target point, in response to the acquisition instruction issued by the electronic device, the sensor collects point cloud data of the ground to be measured within the field of view. Then, the electronic device can obtain the multiple point cloud data collected by the sensor, as well as the target area input for each point cloud data, and use each point cloud data as the point cloud data corresponding to the target area input for the point cloud data.

[0114] In the above step S32, after the electronic device obtains the point cloud data of each target area, for each target area, the electronic device can fit the point cloud data corresponding to the target area to obtain the plane equation of the plane where each point is located as the plane equation of the target area.

[0115] For example, there are three target areas, namely target area 1, target area 2, and target area 3; the point cloud data of target area 1 acquired by the electronic device is point cloud data 1, the point cloud data of target area 2 acquired is point cloud data 2, and the point cloud data of target area 3 acquired is point cloud data 3, then the electronic device can fit each point in point cloud data 1 to obtain plane equation 1 of the plane where each point in point cloud data 1 is located, then plane equation 1 is the plane equation of target area 1; at the same time, the electronic device can fit each point in point cloud data 2 to obtain plane equation 2 of the plane where each point in point cloud data 2 is located, then plane equation 2 is the plane equation of target area 2; the electronic device can fit each point in point cloud data 3 to obtain plane equation 3 of the plane where each point in point cloud data 3 is located, then plane equation 3 is the plane equation of target area 3; thereby, the plane equations of each target area are obtained.

[0116] Specifically, in some embodiments, the electronic device may determine the plane equation of the target area in the following manner. First, assuming that the plane equation is , where z represents the height of the plane in the target area when the x-axis coordinate is x and the y-axis coordinate is y; x and y are the coordinates on the plane; α, β, and γ represent the unknown parameters to be solved in the plane equation.

[0117] The n point cloud data of the target area collected can be expressed as shown in the following formula (1):

[0118] (1);

[0119] Among them, P n Represents the nth point cloud data in the target area, x n Indicates the coordinate of the nth point cloud data in the target area on the x-axis, y n Indicates the coordinate of the nth point cloud data in the target area on the y-axis, z n Represents the coordinate of the nth point cloud data in the target area on the z-axis; the value of n is greater than or equal to 3, that is, the number of point cloud data collected in a target area is greater than or equal to 3.

[0120] Then, refer to the following formulas (2)-(3), and minimize the sum of the distances from all point cloud data to the plane as the optimization target fitting:

[0121] (2);

[0122] (3);

[0123] Among them, x i ,y i 、z i Represents the coordinates of the i-th point cloud data in the target area, i∈[1,n], and n represents the number of point cloud data in the target area.

[0124] Based on the above formulas (1)-(3), the parameters α, β, and γ can be obtained, and then the plane equation of the target area can be determined, that is, .

[0125] In the above step S33, for each target area, the electronic device can calculate the degree of undulation of the plane represented by the plane equation of the target area relative to the ground plane where the target area is located, as the flatness of the target area. It can be understood that in the embodiment of the present application, the ground to be measured is the actual ground, and the ground to be measured may be uneven; and the ground plane is an imaginary, completely horizontal surface.

[0126] As you can understand, flatness refers to the degree of undulation of the ground per unit area. It can be obtained by measuring the vertical distance between the most convex point and the most concave point of the ground plane in a certain area and then dividing it by the area of ​​the area. The unit of flatness is generally millimeters per square meter (mm / m 2 ), which is the maximum ground undulation in millimeters within an area of ​​1 square meter, or can be expressed in meters per square meter (m / m 2 ), for example, Figure 4 As shown, Figure 4 A schematic diagram of a ground profile provided in an embodiment of the present application, Figure 4 The area 42 of the ground region represented by the ground profile 41 is S; and, Figure 4The vertical distance 43 between the most convex point and the most concave point in the ground profile 41 is △h, then Figure 4 The flatness of the ground area represented by the ground profile 41 can be calculated by the following formula (4), namely:

[0127] (4);

[0128] Therefore, when the ground where each target area is located can be regarded as a plane, the flatness of the target area can be determined by calculating the most convex point, the most concave point and the area of ​​the target area in the target domain. Specifically, for each target area, the electronic device can calculate the vertical distance of each point on the plane represented by the plane equation of the target area relative to the ground plane where the target area is located, and obtain the first reference point and the second reference point of each target area, wherein the first reference point is the point in the plane represented by the plane equation of the target area with the largest distance from the ground plane where the target area is located, and the second reference point is the point in the plane represented by the plane equation of the target area with the smallest distance from the ground plane where the target area is located.

[0129] For example, the electronic device can calculate the vertical distance of each point on the plane represented by the plane equation of the target area relative to the ground plane where the target area is located by the following formula (5), that is, D = [d1, d2, ..., d n ], where d1~d n They represent the vertical distance of each point on the plane equation relative to the ground plane where the target area is located. The calculation formula of d1~dn can be expressed as shown in the following formula (5). Based on d1~dn, the first reference point and the second reference point in the target area can be determined:

[0130] (5);

[0131] Then, the electronic device can calculate the flatness of the target area according to the following formula (6):

[0132] (6);

[0133] Among them, δ represents the flatness of the target area, maxD represents the first reference point of the target area, minD represents the second reference point of the target area, and S represents the area of ​​the target area. It can be understood that the target area is actually the field of view of the sensor, so the area of ​​the target area is also the area occupied by the field of view of the sensor. For example, when the length of the field of view of the sensor is Lc and the width is Wc, S = Lc×Wc.

[0134] After determining the flatness of each target area, the overall flatness information matrix of the ground to be measured can be obtained by summarizing, as shown in the following formula (7):

[0135] (7);

[0136] Among them, δ U,V Indicates the flatness of the target area at row U and column V.

[0137] In the above step S34, after the electronic device obtains the flatness of each target area, it can display the flatness of the ground to be measured according to the position and flatness of each target area. For example, the flatness of the ground to be measured is displayed in the form of an image. If target area 1 is located at the upper left corner of the ground to be measured, target area 2 is located at the lower right corner of the ground to be measured, and target area 3 is located at the center of the ground to be measured, then in the image, target area 1 is located at the upper left corner of the image, target area 2 is located at the lower right corner of the image, and target area 3 is located at the center of the image.

[0138] The positions of the corresponding display target areas are described by taking an example. For example, if there are U×V target areas, after arranging these U×V target areas according to their respective positions, the following can be obtained: Figure 5 The image shown, Figure 5 A schematic diagram showing the flatness of the ground to be measured provided in the embodiment of the present application. It can be seen that Figure 5 Arrange U×V target areas into U×V points. Figure 5 The coordinates of the point in the first row and first column are marked as (1, 1), the coordinates of the point in the second row and second column are marked as (2, 2), and the coordinates of the point in the Uth row and Vth column are marked as (U, V). Figure 5 After calculating the flatness of each target area, an image is generated to display the flatness of the ground to be measured. The image is divided into U×V blocks, and the coordinates of the block located in the first row and first column are marked as (1, 1), the coordinates of the point located in the second row and second column are marked as (2, 2), and the coordinates of the point located in the Uth row and Vth column are marked as (U, V). The coordinates of other blocks are deduced in this way, and each block is used to record Figure 5 The flatness of the target area corresponding to the points with the same coordinates, for example, the generated map can be as follows Figure 6 or Figure 7 About Figure 6 , Figure 7 This will be explained in detail below and will not be repeated here.

[0139] In some embodiments, the position and flatness of each target area can be displayed in the following two ways:

[0140] Method 1: Display a heat map consisting of X blocks, where X is the number of target areas, each block corresponds to a target area, and different blocks correspond to different target areas. The relative position relationship between any two blocks in the heat map is consistent, and the color of each block is used to indicate the flatness of the target area corresponding to the block.

[0141] For example, Figure 6 As shown, Figure 6 A second schematic diagram showing the flatness of the ground to be measured provided in an embodiment of the present application; Figure 6 Each block in the heat map corresponds to a target area, and the target areas corresponding to each block are different. The position of each block in the heat map corresponds to the position of its corresponding target area on the ground to be tested. Each block is marked with the flatness of its corresponding target area (specifically, in Figure 6 In , the value shown in each block represents the flatness of the target area corresponding to the block, for example, Figure 6 The block shown in the upper left corner corresponds to a target area with a flatness of 3.21; the block shown in the upper right corner corresponds to a target area with a flatness of 3.62; the block shown in the lower left corner corresponds to a target area with a flatness of 1.01), and each block is filled with a corresponding color to indicate the flatness of the corresponding target area (understandably, Figure 6 The characters (such as aq) shown in the upper right corner of each block represent the color corresponding to each block. The same characters represent the same color, and different characters represent different colors. In addition, the larger the flatness value of the target area corresponding to the block, the warmer the color filled by the block; the smaller the flatness of the target area corresponding to the block, the warmer the color filled by the block), so that users can intuitively see the flatness of each target area in the ground to be tested. Among them, Figure 6 The unit of each block is mm / m 2 .

[0142] Method 2: Display a flatness map consisting of Y blocks, where Y is the number of target areas, each block corresponds to a target area, and different blocks correspond to different target areas. The relative position relationship between any two blocks in the flatness map is consistent with the relative position relationship between the target areas corresponding to the two blocks respectively, and the target areas with flatness less than a preset threshold are displayed in a first display method, and the target areas with flatness greater than the preset threshold are displayed in a second display method, and the first display method is different from the second display method.

[0143] In the embodiment of the present application, a preset threshold is pre-set, and the size of the preset threshold can be set according to the actual needs of the user; after arranging the blocks according to the positions of the corresponding target areas, they are distinguished by the preset threshold, and the target areas with flatness less than the preset threshold are displayed in a first display mode, and the target areas with flatness greater than the preset threshold are displayed in a second display mode, wherein the first display mode and the second display mode can be any modes, as long as the first display mode is different from the second display mode, for example, the first display mode can be to write 0 in all blocks with flatness less than the preset threshold, and the corresponding second display mode can be to write 1 in all blocks with flatness greater than the preset threshold; or, the first display mode can be to fill the blocks with flatness less than the preset threshold with a certain color, and the corresponding second display mode can be to fill the blocks with flatness greater than the preset threshold with another color (for example, the first display mode can be to fill the blocks with flatness less than the preset threshold with green, and the corresponding second display mode can be to fill the blocks with flatness greater than the preset threshold with red).

[0144] by Figure 7 For example, Figure 7 A third schematic diagram showing the flatness of the ground to be measured provided in the embodiment of the present application is shown in FIG. Figure 7 As shown, Figure 7 The blocks with a flatness less than a preset threshold are filled with white, and the blocks with a flatness greater than the preset threshold are filled with black. Figure 7 The flatness values ​​of each block are also clearly annotated in Figure 7 In , the value shown in each block represents the flatness of the target area corresponding to the block, for example, Figure 7 The block shown in the upper left corner corresponds to a target area with a flatness of 3.9; the block shown in the upper right corner corresponds to a target area with a flatness of 3.16; the block shown in the lower left corner corresponds to a target area with a flatness of 2.77), so that users can intuitively distinguish the flatness of different areas of the ground to be tested by color and can also intuitively see the specific values ​​of the flatness of each area. Figure 7 The unit of flatness of each block is mm / m 2 .in addition, Figure 7 The black and white fonts are only for the convenience of displaying numbers and have no other meaning.

[0145] See also Figure 8 , Figure 8 The aforementioned embodiments provided in this application Figure 3A detailed schematic diagram of step S31 in the embodiment, in some embodiments, the area where the ground to be measured is located is pre-divided into a plurality of grid areas of preset length and preset width in the target map, that is, the area where the ground to be measured is located is pre-divided into a plurality of grid areas in the target map, and the length of each grid area is a preset length, and the width is a preset width; wherein, the target map may be a map including only the ground to be measured, or may be a map including the ground to be measured, such as the ground to be measured is a part of the ground in the warehouse, then the target map may be a map of the part of the ground, or the target map may be a map of all the ground in the warehouse, when dividing the grid areas, only the area of ​​the part of the ground in the map is divided, Figure 8 The following steps may be included:

[0146] Step S81: determining a plurality of target points according to the divided grid areas, wherein the target points are corner points of each grid area, or center points in each macro grid, and the macro grid is obtained by dividing each grid area in an n×n manner;

[0147] Step S82: For each target point, control the acquisition device equipped with a sensor to move until the center of the sensor's field of view coincides with the target point, and control the sensor to collect point cloud data, generate a target area with the target point as the center point, and use the collected point cloud data as the point cloud data obtained by collecting the ground of the target area generated.

[0148] In the technical solution provided in the embodiment of the present application, the area where the ground to be measured is located is pre-divided in the target map into multiple grid areas with a preset length and a preset width, and multiple target points are determined based on the divided grid areas. For example, the target point can be a corner point of each grid area, or a center point in each macro grid. In this way, for each target point, the acquisition device provided with a sensor is controlled to move until the center of the sensor's field of view coincides with the target point, and the sensor is controlled to collect point cloud data to generate a target area centered on the target point, and the collected point cloud data is used as the point cloud data obtained by collecting the ground of the generated target area. It can be seen that pre-dividing the ground to be measured into multiple grid areas helps to quickly and conveniently determine each target point, and clarify the location of the target area generated according to the target point, as well as the relationship between each target area.

[0149] In the above step S81, the electronic device can determine multiple target points based on the divided grid areas. For example, the electronic device can use the corner points of each grid area as the target point, or the electronic device can divide the grid area into multiple macro grids. The macro grid can be understood as an area composed of n×n grid areas. Then, the center point in the macro grid is used as the target area.

[0150] In some embodiments, it can be understood that when the preset length and the preset width are small, the divided grid regions are small. At this time, if the corner points of each grid region are used as the target points, then more target regions need to be collected and calculated, which will take more time and result in a low calculation efficiency. Therefore, multiple grid regions can be divided into multiple macro-grids, and the center of the macro-grid can be used as the target point. It can be understood that since the grid regions themselves are small, the ground region represented by the macro-grid composed of multiple grid regions can still be regarded as a plane rather than a curved surface. It should be noted that in order to ensure that the ground represented by the macro-grid can be regarded as a plane, the value of n should not be too large.

[0151] In some embodiments, in order to ensure that potential protrusions at the junction of the target regions can be completely collected, there needs to be an overlapping region between two adjacent target regions. Under this condition, when the corner points of each grid region are used as the target points, the target region is the region centered on the corner points of each grid. At this time, the length of the target region needs to be greater than the preset length and less than twice the preset length; the width of the target region needs to be greater than the preset width and less than twice the preset width. It can be understood that the size of the acquisition field of view of the sensor is the same as that of the target region, that is, one acquisition field of view is one target region. Therefore, to achieve the acquisition of the target region, only the size of the acquisition field of view of the sensor needs to be set to the size of the target region, that is, when the corner points of the grid region are used as the target points, the length of the acquisition field of view of the sensor needs to be greater than the preset length and less than twice the preset length, and the width of the sensor needs to be greater than the preset width and less than twice the preset width.

[0152] For example, as Fig. 9 shown, Fig. 9 is a schematic diagram of a target point provided by an embodiment of the present application. It can be seen that the ground to be measured is divided into multiple grid regions with a length 91 of Lg and a width 92 of Wg (for example, Fig. 9 the area marked by the frame 93 in Fig. 9 is a grid region). Using the corner points of each grid region (such as Fig. 9 the 94 marked in Fig. 9 ) as the target points, the length of the field of view of the sensor (i.e., the shooting field of view, or also called the acquisition field of view) can be set to Lc, and the width can be set to Wc, and Lg < Lc < 2Lg, Wg < Wc < 2Wg. Among them, it can be understood that to avoid annotation confusion, Fig. 9 only the grid region 93 is marked in Fig. 9 , and other grid regions are not marked; similarly, Fig. 9 only the corner point 94 is marked in Fig. 9 , and other corner points are not marked.

[0153] The relationship between the shooting field of view and the target point is as Fig.10 shown, that is, the target point is the corner point of the grid region, and the shooting field of view is the region centered on the target point. For example, Fig.10In FIG. 1 , the shooting field of view 101 is an area centered on the target point 102. In this case, the positional relationship between each shooting field of view (i.e., the target area) is as follows: Fig.11 As shown in the figure, it can be seen that there are overlapping areas between the shooting fields of view (that is, the acquisition areas overlap). Fig.11 As shown, there is an overlapping area 113 (i.e., the portion filled with oblique lines indicated by 113) between the shooting fields of view 111 and the shooting fields of view 112, wherein the shooting fields of view 111 and the shooting fields of view 112 are two adjacent shooting fields of view in the horizontal direction; there is an overlapping area 115 (i.e., the portion filled with oblique lines indicated by 115) between the shooting fields of view 111 and the shooting fields of view 114, wherein the shooting fields of view 111 and the shooting fields of view 114 are two adjacent shooting fields of view in the vertical direction; when the length of the grid area is Lg and the width is Wg; When the length of the field of view is Lc and the width is Wc, since the shooting field of view is the area with the corner point of the grid area as the center point, and the shooting field of view 111 and the shooting field of view 112 are two shooting fields of view adjacent to each other in the horizontal direction, the length of the overlapping area 113 is the length of the shooting field of view (i.e., Lc), and the width is Wc-Wg; at the same time, since the shooting field of view 111 and the shooting field of view 114 are two shooting fields of view adjacent to each other in the vertical direction, the length of the overlapping area 115 is Lc-Lg, and the width is the width of the shooting field of view (i.e., Wc). Among them, there is no other difference between the shooting fields of view except for the different positions. Fig.11 The use of frames of different thicknesses to represent two adjacent shooting fields of view is only to more intuitively show the positional relationship between adjacent shooting fields of view, as well as the position and size of the overlapping area formed by the adjacent shooting fields of view. In addition, it is understandable that Fig.11 This is for illustrative purposes only, therefore, Fig.11 Only part of the shooting fields of view and the overlapping area is shown, and not all of the shooting fields of view and the overlapping area are shown.

[0154] In other embodiments, when the center point in the macro grid is used as the target point, in order to ensure that the potential protrusions at the junction of the target areas can be completely collected, that is, to make an overlapping area between two adjacent target areas, the length of the sensor's field of view can be set to m times the preset length, and the width of the sensor's field of view can be set to m times the preset width. At this time, the macro grid is a collection block composed of m×m grid areas, and the center point in the macro grid is the center point of the central grid in the macro grid, that is, the target point. It can be understood that in order to avoid too many overlapping areas being collected, resulting in repeated collection of the same area, it is necessary to keep the interval between the center points of any two adjacent collection blocks less than or equal to (m / 2+1) grid areas, that is, when determining the target point, the interval between the target points needs to be less than or equal to (m / 2+1) grid areas, where m is an odd number greater than or equal to 3.

[0155] For example, Fig.12 As shown, Fig.12 Another schematic diagram of the target point provided in the embodiment of the present application, it can be seen that the ground to be measured is divided into a plurality of lengths Lg (see Fig.12 123 in ), with a width of Wg (see Fig.12 124) grid area, with 3×3 grid areas as a collection block, and the target point (i.e., the center point of the collection area) is the center point of the middle grid area in the collection block composed of these 3×3 grid areas. In addition, based on the above content, the interval between target points must be less than or equal to (m / 2+1) grid areas, that is, less than or equal to 2.5 grid areas. Therefore, taking the interval between each target point as 2 grid areas as an example, the distribution of each target point is as follows Fig.12 The distribution shown (where the grid area can be seen in Fig.12 The target point can be found in the block shown in 121 Fig.12 point indicated by 122 in FIG. 1 ).

[0156] At this time, the length of the shooting field of view Lc = 3Lg, Wc = 3Wg (where the length of the shooting field of view can be found in Fig.13 131 in the figure. The width of the shooting field of view can be found in Fig.13 132 in), the relationship between the shooting field of view and the target point is as follows Fig.13 As shown, each shooting field of view is a collection block consisting of 3×3 grid areas (see Fig.13 In this case, the positional relationship between each shooting field of view (i.e., the target area) is as follows: Fig.14 As shown in the figure, it can be seen that there are overlapping areas between the shooting fields of view (that is, the acquisition areas overlap). Fig.14As shown, there is an overlapping area 143 (i.e., the portion filled with oblique lines indicated by 143) between the shooting field of view 141 and the shooting field of view 142, wherein the shooting field of view 141 and the shooting field of view 142 are two adjacent shooting fields in the horizontal direction; there is an overlapping area 145 (i.e., the portion filled with oblique lines indicated by 145) between the shooting field of view 141 and the shooting field of view 144, wherein the shooting field of view 141 and the shooting field of view 144 are two adjacent shooting fields in the vertical direction; when the length of the grid area is Lg and the width is Wg; When the length of the field of view is Lc and the width is Wc, since the shooting field of view is the area with the corner point of the grid area as the center point, and the shooting field of view 141 and the shooting field of view 142 are two shooting fields of view adjacent to each other in the horizontal direction, the length of the overlapping area 143 is the length of the shooting field of view (i.e., Lc) and the width is Wc-Wg; at the same time, since the shooting field of view 141 and the shooting field of view 144 are two shooting fields of view adjacent to each other in the vertical direction, the length of the overlapping area 145 is Lc-Lg and the width is the width of the shooting field of view (i.e., Wc). Among them, there is no other difference between the shooting fields of view except for the different positions. Fig.14 The two adjacent shooting fields of view are represented by straight line frame and dotted line frame only to more intuitively show the positional relationship between adjacent shooting fields of view, as well as the position and size of the overlapping area formed by adjacent shooting fields of view. Fig.14 This is for illustrative purposes only, therefore, Fig.14 Only part of the shooting fields of view and the overlapping area is shown, and not all of the shooting fields of view and the overlapping area are shown.

[0157] In the above step S82, for each target point, the electronic device can control the acquisition device carrying the sensor to move until the center of the sensor's field of view coincides with the target point, and control the sensor to collect point cloud data to generate a target area with the target point as the center point. It can be understood that when the center of the sensor's field of view coincides with the target point, the area of ​​the ground to be measured included in the sensor's field of view is a target area. At this time, the point cloud data collected by the sensor is the point cloud data of the ground corresponding to the target area. For example, as follows Fig.15 As shown, when the center of the field of view of the sensor 154 coincides with the target point, the area of ​​the ground 155 to be measured included in the field of view of the sensor 154 (i.e. Fig.15 156 in the figure is a target area. At this time, the point cloud data collected by the sensor 154 is the point cloud data of the ground corresponding to the target area 156.

[0158] Corresponding to the above-mentioned ground flatness method, the embodiment of the present application also provides a collection device, such as Fig.15 As shown, the acquisition device includes a movable chassis 151, a bracket 152, a horizontal rod 153, and a sensor 154.

[0159] The bracket 152 is fixed on the movable chassis 151, one end of the horizontal rod 153 is installed on the bracket 152, and the sensor 154 is connected to the other end of the horizontal rod 153; the movable chassis 151 can be used to drive the sensor 154 to implement any of the above-mentioned ground flatness detection methods. The sensor 154 can be a depth sensor such as a laser radar, a binocular camera, a multi-eye camera, a direct-time of flight (dTOF) camera, an indirect time-of-flight (iTOF) camera, a laser vibration camera, a digital light processing (DLP) camera, etc.

[0160] In addition, the sensor 154 does not have a collection field of view in the target direction on the movable chassis 151, wherein the target direction is the direction in which the movable chassis 151 is located relative to the sensor 154. For example, the horizontal rod 153 is set long enough so that the sensor 154 does not have a collection field of view in the target direction on the movable chassis 151.

[0161] In an embodiment of the present application, the acquisition device may be a device with autonomous movement capability, such as a robot. The acquisition device may autonomously move to the center of the sensor's field of view and align with each target point, thereby obtaining point cloud data of each target area.

[0162] Alternatively, the acquisition device may be a device that does not have autonomous movement capabilities, such as a human-powered cart, which can be manually pushed by the user one by one to the center of the sensor's field of view and aligned with each target point, thereby obtaining point cloud data for each target area.

[0163] In some embodiments, a vertical retractable structure is provided on the bracket, and the vertical retractable structure can be retracted in the vertical direction to adjust the distance between the horizontal rod and the upper surface of the movable chassis. The horizontal rod is provided with a horizontal retractable structure, and the horizontal retractable structure can be retracted in the horizontal direction to adjust the distance between the sensor and the bracket; wherein the vertical retractable structure includes a vertical damping component, and the vertical damping component is used to limit the retraction of the vertical retractable structure; the horizontal retractable structure includes a horizontal damping component, and the horizontal damping component is used to limit the retraction of the horizontal retractable structure.

[0164] Corresponding to the above-mentioned ground flatness detection method, the embodiment of the present application also provides a ground flatness detection device, such as Fig.16 As shown, the device comprises:

[0165] Point cloud data acquisition module 161, for acquiring point cloud data obtained by sensors collecting ground data of target areas for multiple target areas as point cloud data corresponding to the target areas, each target area is a neighborhood of a target point, and each target point is a point evenly distributed in the ground to be measured;

[0166] A plane equation fitting module 162 is used to fit, for each target area, the plane equation of the plane where each point in the point cloud data corresponding to the target area is located, as the plane equation of the target area;

[0167] A flatness determination module 163 is used to calculate, for each target area, the degree of undulation of the plane represented by the plane equation of the target area relative to the ground plane where the target area is located, as the flatness of the target area;

[0168] The flatness display module 164 is used to display the position and flatness of each target area accordingly.

[0169] In the technical solution provided in the embodiment of the present application, multiple target points are determined in the ground to be measured, and each target point is evenly distributed in the ground to be measured. The neighborhood of each target point is determined as a target area. For each target area, point cloud data obtained by the sensor collecting the ground of the target area is obtained as the point cloud data corresponding to each target area. It can be understood that since the target point cloud is evenly distributed in the ground to be measured, when there are enough target point clouds, each target area is small. Therefore, the ground of each target area can be regarded as a plane. Therefore, for each target area, the plane equation of the plane where each point in the point cloud data corresponding to the target area is fitted as the plane equation of the target area; further, for each target area, the degree of undulation of the plane represented by the plane equation of the target area relative to the ground plane where the target area is located is calculated as the flatness of the target area. After that, the position and flatness of each target area are displayed accordingly, thereby realizing the detection of the flatness of the ground to be measured, and intuitively presenting the flatness of each target area in the ground to be measured to the user.

[0170] In some embodiments, the area where the ground to be measured is located is pre-divided into a plurality of grid areas of preset length and preset width in the target map, and the sensor collects point cloud data of the ground of each target area in the following manner, including:

[0171] Determine a plurality of target points according to the divided grid areas, wherein the target points are corner points of each grid area, or center points in each macro grid, and the macro grid is obtained by dividing each grid area in an n×n manner;

[0172] For each target point, the acquisition device equipped with a sensor is controlled to move until the center of the sensor's field of view coincides with the target point, and the sensor is controlled to collect point cloud data to generate a target area with the target point as the center point, and the collected point cloud data is used as the point cloud data obtained by collecting the ground of the target area generated.

[0173] In some embodiments, the length of the field of view of the sensor is greater than a preset length and less than twice the preset length, the width of the field of view of the sensor is greater than a preset width and less than twice the preset width,

[0174] Determining a plurality of target points according to the divided grid areas includes:

[0175] Determine the corner points of all grid areas as target points;

[0176] or,

[0177] The sensor's field of view length is equal to m times the preset length, and the sensor's field of view width is equal to m times the preset width,

[0178] Determining multiple target points according to the divided grid areas includes:

[0179] Each grid area is divided into multiple acquisition blocks of size m×m, and the center point of the acquisition block is used as the target point;

[0180] The interval between the center points of any two adjacent acquisition blocks is less than or equal to (m / 2+1) grid areas; m is an odd number greater than or equal to 3.

[0181] In some embodiments, a plurality of grid areas of preset lengths and preset widths are pre-marked on the ground to be measured;

[0182] The sensor collects point cloud data of the ground of each target area in the following manner, including:

[0183] In response to the point cloud collection instruction, collecting point cloud data of the ground to be measured within the field of view;

[0184] The point cloud data acquisition module 161 is specifically used for:

[0185] A plurality of point cloud data collected by the sensor and a target area input for each point cloud data are acquired, and each point cloud data is used as point cloud data corresponding to the target area input for the point cloud data.

[0186] In some embodiments, the flatness display module 164 is specifically used to:

[0187] Display a heat map consisting of X blocks, where X is the number of target areas, each block corresponds to a target area, and different blocks correspond to different target areas, the relative position relationship between any two blocks in the heat map is consistent with the relative position relationship between the target areas corresponding to the two blocks, and the color of each block is used to represent the flatness of the target area corresponding to the block; or,

[0188] A flatness map consisting of Y blocks is displayed, wherein Y is the number of target areas, each block corresponds to a target area, and different blocks correspond to different target areas, the relative position relationship between any two blocks in the heat map is consistent with the relative position relationship between the target areas corresponding to the two blocks respectively, and the target areas with flatness less than a preset threshold are displayed in a first display mode, and the target areas with flatness greater than the preset threshold are displayed in a second display mode, and the first display mode is different from the second display mode.

[0189] In some embodiments, the flatness determination module 163 is specifically configured to:

[0190] For each target area, the vertical distance of each point on the plane represented by the plane equation of the target area relative to the ground plane where the target area is located is calculated to obtain the first reference point and the second reference point of each target area; the first reference point is the point in the plane represented by the plane equation of the target area with the largest distance from the ground plane where the target area is located, and the second reference point is the point in the plane represented by the plane equation of the target area with the smallest distance from the ground plane where the target area is located;

[0191] The flatness of the target area is determined according to the first reference point and the second reference point of each target area and the area of ​​the target area.

[0192] In some embodiments, the flatness of the target area is determined according to the first reference point and the second reference point of the target area and the area of ​​the target area by the following formula:

[0193] ;

[0194] Wherein, δ represents the flatness of the target area, maxD represents the first reference point of the target area, minD represents the second reference point of the target area, and S represents the area of ​​the target area.

[0195] The present application also provides an electronic device, such as Fig.17 As shown, including:

[0196] A memory 171, for storing computer programs;

[0197] The processor 172 is used to implement any of the above-mentioned ground flatness detection methods when executing the program stored in the memory 171.

[0198] In addition, the electronic device may further include a communication bus and / or a communication interface, and the processor 172, the communication interface, and the memory 171 communicate with each other via the communication bus.

[0199] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0200] The communication interface is used for communication between the above electronic device and other devices.

[0201] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0202] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0203] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned ground flatness detection methods are implemented.

[0204] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any of the ground flatness detection methods in the above embodiments.

[0205] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0206] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0207] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the acquisition device, electronic device, device, computer-readable storage medium, and computer program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0208] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A method for detecting ground flatness, characterized in that: The method comprises: For multiple target areas, point cloud data obtained by sensors collecting ground data of the target areas are obtained as point cloud data corresponding to the target areas, each of the target areas is a neighborhood of a target point, and each of the target points is a point evenly distributed in the ground to be measured; For each of the target areas, fitting the plane equation of the plane where each point in the point cloud data corresponding to the target area is located as the plane equation of the target area; For each of the target areas, calculating the degree of undulation of the plane represented by the plane equation of the target area relative to the ground plane where the target area is located as the flatness of the target area; The position and the flatness of each target area are displayed accordingly.

2. The method according to claim 1, characterized in that The area where the ground to be measured is located is pre-divided into a plurality of grid areas of preset length and preset width in the target map, and the sensor collects point cloud data of the ground of each target area in the following manner, including: Determine a plurality of target points according to the divided grid areas, wherein the target points are corner points of the grid areas, or center points in each macro grid, and the macro grid is obtained by dividing the grid areas in an n×n manner; For each of the target points, the acquisition device equipped with the sensor is controlled to move until the center of the sensor's field of view coincides with the target point, and the sensor is controlled to collect point cloud data to generate a target area with the target point as the center point, and the collected point cloud data is used as the point cloud data obtained by collecting the ground of the generated target area.

3. The method according to claim 2, characterized in that The length of the field of view of the sensor is greater than the preset length and less than twice the preset length, and the width of the field of view of the sensor is greater than the preset width and less than twice the preset width, Determining a plurality of target points according to the divided grid areas includes: Determine the corner points of all the grid areas as target points; or, The sensor's field of view length is equal to m times the preset length, and the sensor's field of view width is equal to m times the preset width, Determining multiple target points according to the divided grid areas includes: Divide each grid area into a plurality of acquisition blocks of size m×m, and take the center point of each acquisition block as the target point; The interval between the center points of any two adjacent acquisition blocks is less than or equal to (m / 2+1) grid areas; and m is an odd number greater than or equal to 3.

4. The method according to claim 1, characterized in that The ground to be measured is pre-marked with a plurality of grid areas of preset length and preset width; The sensor collects point cloud data of the ground of each target area in the following manner, including: In response to the point cloud collection instruction, collecting point cloud data of the ground to be measured within the field of view; For multiple target areas, obtaining point cloud data obtained by sensors collecting ground points in the target areas as point cloud data corresponding to the target areas includes: A plurality of point cloud data collected by the sensor and a target area input for each of the point cloud data are acquired, and each of the point cloud data is used as point cloud data corresponding to the target area input for the point cloud data.

5. The method according to claim 1, characterized in that The corresponding display of the position and the flatness of each target area includes: Displaying a heat map consisting of X blocks, where X is the number of the target areas, each block corresponds to one target area, and different blocks correspond to different target areas, the relative position relationship between any two blocks in the heat map is consistent with the relative position relationship between the target areas corresponding to the two blocks, and the color of each block is used to indicate the flatness of the target area corresponding to the block; or, A flatness map consisting of Y blocks is displayed, wherein Y is the number of the target areas, each block corresponds to one target area, and different blocks correspond to different target areas, the relative position relationship between any two blocks in the flatness map is consistent with the relative position relationship between the target areas corresponding to the two blocks respectively, and the target areas with flatness less than a preset threshold are displayed in a first display mode, and the target areas with flatness greater than the preset threshold are displayed in a second display mode, and the first display mode is different from the second display mode.

6. The method according to claim 1, characterized in that The step of calculating, for each target area, the degree of undulation of a plane represented by the plane equation of the target area relative to a ground plane where the target area is located as the flatness of the target area includes: For each of the target areas, the vertical distances of each point on the plane represented by the plane equation of the target area relative to the ground plane where the target area is located are calculated to obtain a first reference point and a second reference point of each of the target areas; the first reference point is the point in the plane represented by the plane equation of the target area with the largest distance from the ground plane where the target area is located, and the second reference point is the point in the plane represented by the plane equation of the target area with the smallest distance from the ground plane where the target area is located; The flatness of the target area is determined according to the first reference point and the second reference point of each target area and the area of ​​the target area.

7. The method according to claim 6, characterized in that According to the first reference point and the second reference point of the target area and the area of ​​the target area, the flatness of the target area is determined by the following formula: ; Wherein, δ represents the flatness of the target area, maxD represents the first reference point of the target area, minD represents the second reference point of the target area, and S represents the area of ​​the target area.

8. A collection device, characterized in that: The acquisition equipment includes a movable chassis, a bracket, a horizontal rod, and a sensor; The bracket is fixed to the movable chassis; one end of the horizontal rod is mounted on the bracket; the sensor is connected to the other end of the horizontal rod; the movable chassis is used to drive the sensor to implement any of the methods described in claims 1-7 above; The collecting field of view of the sensor in the target direction does not fall on the movable chassis, and the target direction is the direction in which the movable chassis is located relative to the sensor.

9. The device according to claim 8, characterized in that The bracket is provided with a vertically retractable structure, and the vertically retractable structure can be retracted in a vertical direction to adjust the distance between the horizontal rod and the upper surface of the movable chassis; The horizontal rod is provided with a horizontally retractable structure, and the horizontally retractable structure can be retracted in the horizontal direction to adjust the distance between the sensor and the bracket; Wherein, the vertical telescopic structure includes a vertical damping component, and the vertical damping component is used to limit the telescopic movement of the vertical telescopic structure; the horizontal telescopic structure includes a horizontal damping component, and the horizontal damping component is used to limit the telescopic movement of the horizontal telescopic structure.

10. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-7 when executing a program stored in a memory.

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