Scene map generation method and system, electronic equipment and medium

Abstract

The invention provides a scene map generation method and system, electronic equipment and a medium. The map scene generation method comprises the following steps: acquiring an environment map and a carriage map; acquiring a first position of the vehicle according to the carriage map; acquiring a position deviation between the second position of the vehicle and the first position of the vehicle according to the second position of the vehicle; wherein the first position is a reference parking position of the vehicle, and the second position is an actual parking position of the vehicle; and processing according to the position deviation and the environment map to obtain a scene map. The scene map generation method can adapt to vehicle position and size changes and is suitable for various working scenes.

Description

Technical Field

[0001] The present application belongs to the field of map processing technology, and relates to a scene map generation method, and in particular to a scene map generation method, system, electronic device and medium. Background Art

[0002] Map generation and processing technology covers many fields, including geographic information system (GIS), remote sensing, satellite imaging, computer vision, and machine learning. It can be used to generate, process, and analyze various types of maps, including satellite images, traffic maps, weather maps, and population distribution maps. In addition, there are many technologies related to map generation and processing, involving data collection, storage, management, and visualization. For example, describe how to use drones or satellites to collect geographic data, and how to use computer algorithms to process and analyze this data.

[0003] In summary, the technology in the field of map generation and processing is very broad, covering many different fields and providing tools to better understand and analyze the world. However, current map generation methods lack universality and cannot be applied to a variety of work scenarios. Summary of the invention

[0004] In view of the shortcomings of the prior art described above, the purpose of the present application is to provide a scene map generation method, system, electronic device and medium to solve the problem that the map generation method in the prior art lacks universality and cannot be applied to a variety of work scenarios.

[0005] In a first aspect, the present application provides a scene map generation method, comprising: obtaining an environment map and a compartment map; obtaining a first position of a vehicle according to the compartment map; obtaining a position deviation between the second position of the vehicle and the first position of the vehicle according to the second position of the vehicle; wherein the first position is a reference parking position of the vehicle, and the second position is an actual parking position of the vehicle; and obtaining a scene map by processing the position deviation and the environment map.

[0006] In the present application, the scene map generation method determines the position deviation between the vehicle positions based on the obtained car compartment map, processes the environment map based on the position deviation, and obtains the scene map. In addition, the scene map generation method can change according to the difference between the environment map and the car compartment map, and generate different scene maps when the vehicle sizes are different. The scene map obtained by this method can adapt to changes in vehicle position and size, and is suitable for a variety of work scenarios.

[0007] In an implementation of the first aspect, obtaining the environment map and the compartment map includes: obtaining multiple scan frames of the surrounding environment; generating multiple sub-maps based on each of the scan frames; and obtaining the environment map and the compartment map based on each of the sub-maps.

[0008] In an implementation of the first aspect, acquiring multiple scanning frames includes: acquiring scanning frames using a scanning device; and adjusting the posture of the scanning frames according to the relative posture of the scanning frames to acquire multiple scanning frames.

[0009] In an implementation of the first aspect, obtaining the position deviation between the vehicle's second position and the vehicle's first position based on the vehicle's second position includes: obtaining a reference operating route of the vehicle based on the vehicle's first position; and obtaining the position deviation between the vehicle's second position and the vehicle's first position based on the vehicle's second position and the reference operating route.

[0010] In an implementation manner of the first aspect, the position deviation includes an offset distance and an offset angle of the vehicle.

[0011] In an implementation of the first aspect, obtaining the position deviation further includes: using a first sensing device and a second sensing device to obtain an offset distance and an offset angle of the vehicle relative to the reference running route.

[0012] In a second aspect, the present application provides a scene map generation system, comprising: a map acquisition module for acquiring an environment map and a compartment map; a position acquisition module for acquiring a first position of a vehicle based on the compartment map; a deviation acquisition module for acquiring a position deviation between a second position of the vehicle and the first position of the vehicle based on the second position of the vehicle; wherein the first position is a reference parking position of the vehicle, and the second position is an actual parking position of the vehicle; a map generation module for processing according to the position deviation and the environment map to acquire a scene map.

[0013] In an implementation of the second aspect, the map acquisition module includes: a scanning frame acquisition unit, used to acquire multiple scanning frames of the surrounding environment; a scanning frame processing unit, used to generate multiple sub-maps based on each of the scanning frames; and a map acquisition unit, used to acquire the environment map and the vehicle compartment map based on each of the sub-maps.

[0014] In a third aspect, the present application provides an electronic device, comprising: a memory for storing a computer program; and a processor for executing the computer program stored in the memory, so that the electronic device performs the scene map generation method as described in any one of the first aspects.

[0015] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the scene map generation method described in any one of the first aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1A Shown is a schematic diagram of an application scenario of the scene map generation method described in this application.

[0017] Figure 1B Shown are structural diagrams of the client-cloud interaction scenarios in these implementations.

[0018] Figure 2 Shown is a flow chart of the scene map generation method described in an embodiment of the present application.

[0019] Figure 3 Shown is a flow chart of the scene map generation method described in an embodiment of the present application.

[0020] Figure 4 Shown is a flow chart of the scene map generation method described in an embodiment of the present application.

[0021] Figure 5 Shown is a structural schematic diagram of the scene map generation system described in an embodiment of the present application.

[0022] Figure 6 Shown is a structural schematic diagram of the map acquisition module described in an embodiment of the present application.

[0023] Figure 7 Shown is a schematic diagram of the structure of an electronic device described in an embodiment of the present application.

[0024] Component number description

[0025] 1 Warehousing and logistics system

[0026] 10 Automated Guided Vehicle

[0027] 11 Processor

[0028] 12 Display Terminal

[0029] 2-end-cloud interactive system

[0030] 20 Terminal

[0031] 21 Cloud Server

[0032] 500 Scene Map Generation System

[0033] 510 Map acquisition module

[0034] 511 Scanning frame acquisition unit

[0035] 512 Scan frame processing unit

[0036] 513 Map Acquisition Unit

[0037] 520 Location Acquisition Module

[0038] 530 Deviation Acquisition Module

[0039] 540 Map Generation Module

[0040] 700 Electronic equipment

[0041] 710 Memory

[0042] 720 processor

[0043] 730 Display

[0044] Steps S11 to S14

[0045] Steps S111 to S113

[0046] Steps S131 to S132 DETAILED DESCRIPTION

[0047] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0048] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0049] Traditional simultaneous localization and mapping (SLAM navigation) mapping methods are suitable for mapping in fixed scene modes. For dynamic environments, such as working environments where platforms and trucks are connected, there are generally problems such as low positioning accuracy and long mapping time. They are less applicable in industrial dynamic field environments and are not operational.

[0050] At least in response to the above-mentioned problems, an embodiment of the present application provides a scene map generation method, including: obtaining an environment map and a compartment map; obtaining a first position of a vehicle based on the compartment map; obtaining a position deviation between the second position of the vehicle and the first position of the vehicle based on the second position of the vehicle; wherein the first position is a reference parking position of the vehicle, and the second position is an actual parking position of the vehicle; and obtaining a scene map by processing the position deviation and the environment map.

[0051] In an embodiment of the present application, the scene map generation method determines the position deviation between the vehicle positions based on the obtained car map, processes the environment map based on the position deviation, and obtains the scene map. In addition, the scene map generation method can vary according to the difference between the environment map and the car map, and generate different scene maps when the vehicle sizes are different. The scene map obtained by this method can adapt to changes in vehicle position and size, and is suitable for a variety of work scenarios.

[0052] Figure 1A The diagram shows an application scenario of the scene map generation method described in the present application. The warehousing logistics system 1 can be used to implement the map scene generation method provided in the embodiment of the present application, but the application scenario of the map scene generation method provided in the embodiment of the present application is not limited to Figure 1A The warehouse logistics system shown in Figure 1. Figure 1A As shown, the storage logistics system 1 includes an automated guided vehicle 10 (AGV for short), a processor 11 and a display terminal 13. The scene map generation method provided in the embodiment of the present application can be applied to the processor 12.

[0053] in, Figure 1A The unmanned guided vehicle 10 in the embodiment may be a single unmanned guided vehicle or a cluster of multiple unmanned guided vehicles, which is not limited to the specific embodiment. Figure 1A Only one unmanned guided vehicle 10, one processor 11 and one display terminal 12 are shown in the figure, but it should be understood that the example in FIG. 1 is only used to understand the present solution, and the specific quantity should be flexibly determined in combination with the actual situation.

[0054] In some other implementations, the warehousing logistics system 1 may not include the display terminal 12, but only include a processor 11 with a display function and an unmanned guided vehicle 10. The processor 11 with a display function may include a tablet computer, a laptop computer, a PDA, a mobile phone, a personal computer (PC) and a voice interaction device, or a monitoring device, which is not limited here.

[0055] In still other implementations, the map scene generation method described in this application can be applied to end-cloud interaction scenarios. Figure 1B The following is a schematic diagram of the structure of the client-cloud interaction scenario in these implementations. Figure 1B As shown, the terminal-cloud interaction system 2 includes a terminal 20 and a cloud server 21. The terminal 20 and the cloud server 21 can communicate with each other, and the communication method is not limited to wired or wireless.

[0056] Among them, the terminal 20 can be mobile or fixed, for example, the terminal 20 can be a wireless terminal or a wired terminal. The wireless terminal can refer to a device with wireless transceiver function, which can be deployed indoors, outdoors and in industrial workshops. The terminal 20 can be an unmanned guided vehicle or a cluster of multiple unmanned guided vehicles, which is not limited here. The cloud server 21 can include one or more servers, or one or more processing nodes, or one or more virtual machines running on the server. The cloud server 21 can also be called a server cluster, a management platform, a data processing center, etc., which is not limited in this application.

[0057] The technical solutions in the embodiments of the present application will be described in detail below in conjunction with the drawings in the embodiments of the present application.

[0058] The following embodiments of the present application provide a method for generating a scene map, for example, by Figure 1A The processor 11 or Figure 1B It is implemented by the cloud server 21 shown. Figure 2 The flowchart of the scene map generation method described in the embodiment of the present application is shown as follows: Figure 2 As shown, the scene map generation method includes steps S11 to S14.

[0059] Step S11, obtaining an environment map and a car map. The environment map is a map of the surrounding environment obtained based on SLAM navigation. SLAM navigation can combine laser radar or camera positioning, mapping and path planning. The car map is a map obtained based on the interior space of the vehicle. Optionally, the car map will also change according to changes in the vehicle.

[0060] Step S12, obtaining the first position of the vehicle according to the carriage map. Optionally, the vehicle is an AGV, and the first position of the vehicle is a parking space of the AGV. The AGV is a transport vehicle equipped with an electromagnetic, optical or other automatic guidance device, capable of traveling along a prescribed guidance path, and having safety protection and various transfer functions.

[0061] Step S13, obtaining a position deviation between the second position of the vehicle and the first position of the vehicle according to the second position of the vehicle; wherein the first position is a reference parking position of the vehicle, and the second position is an actual parking position of the vehicle. Optionally, the position deviation between the second position of the vehicle and the first position of the vehicle is a deviation between the actual position of the AGV and the parking space of the AGV.

[0062] Step S14, performing processing according to the position deviation and the environment map to obtain a scene map.

[0063] In some possible implementations, the first position of the vehicle is the parking position of the reference operating route of the AGV trolley, and the second position of the vehicle is the actual parking position of the AGV trolley. The position deviation is obtained according to the deviation between the second position of the vehicle and the first position of the vehicle. The reference operating route of the AGV trolley is compensated by the position deviation to obtain a compensated carriage map. The carriage map is spliced ​​with the environmental map to obtain a scene map. It should be noted that the above is only a possible implementation method of the embodiment of the present application, and the present application is not limited to this.

[0064] In an embodiment of the present application, the scene map generation method determines the position deviation between the vehicle positions based on the obtained car map, processes the environment map based on the position deviation, and obtains the scene map. In addition, the scene map generation method can vary according to the difference between the environment map and the car map, and generate different scene maps when the vehicle sizes are different. The scene map obtained by this method can adapt to changes in vehicle position and size, and is suitable for a variety of work scenarios.

[0065] Figure 3 The flowchart of the scene map generation method described in the embodiment of the present application is shown. Figure 3 As shown, step S11 includes the following steps S111 to S113.

[0066] Step S111, obtaining a plurality of scanning frames of the surrounding environment, wherein the scanning frames are scanning frames obtained by a laser scanning head scanning the working environment.

[0067] Step S112, generating a plurality of sub-images according to the scanning frames, wherein a certain number of scanning frames correspond one to one with the coordinate points of a sub-image.

[0068] Step S113, acquiring the environment map and the compartment map according to each of the sub-maps.

[0069] In one embodiment of the present application, acquiring multiple scanning frames includes: acquiring scanning frames using a scanning device; and adjusting the posture of the scanning frames according to the relative posture of the scanning frames to acquire multiple scanning frames.

[0070] Optionally, the relative posture of the scanning frame is pre-stored in a memory, and the posture of the scanning frame is optimized and adjusted according to the relative posture of the scanning frame to maximize the probability of the coordinate point of the scanning frame corresponding to the sub-image in the sub-image.

[0071] Figure 4 The flowchart of the scene map generation method described in the embodiment of the present application is shown. Figure 4 As shown, step S13 includes step S131 to step S132.

[0072] Step S131, acquiring a reference running route of the vehicle according to the first position of the vehicle. The reference running route is a preset running route of the vehicle. Optionally, the reference running route of the vehicle is stored in a memory, including the starting position, parking space and running route of the vehicle.

[0073] Step S132: acquiring a position deviation between the second position of the vehicle and the first position of the vehicle according to the second position of the vehicle and the reference running route.

[0074] In one embodiment of the present application, the position deviation includes an offset distance and an offset angle of the vehicle. Optionally, the offset distance is a lateral offset value of the actual parking position of the vehicle compared to the parking position of the reference running route, and the offset angle is an offset angle of the actual parking position of the vehicle compared to the parking position of the reference running route.

[0075] In one embodiment of the present application, obtaining the position deviation further includes obtaining an offset distance and an offset angle of the vehicle relative to the reference running route using a first sensing device and a second sensing device.

[0076] In some possible implementations, the first sensing device is disposed at one side of the parking area, and the second sensing device is disposed at the other side of the parking area, and the first sensing device and the second sensing device are both configured with a 90° sector detection range. When the vehicle is parked in the parking area, the first sensing device and the second sensing device are used to obtain an offset distance and an offset angle of the vehicle relative to the reference running route.

[0077] Figure 5 The structure diagram of the scene map generation system 500 described in the embodiment of the present application is shown. Figure 5 As shown, the scene map generation system 500 includes a map acquisition module 510 , a position acquisition module 520 , a deviation acquisition module 530 and a map generation module 540 .

[0078] The map acquisition module 510 is used to acquire an environment map and a vehicle compartment map.

[0079] The position acquisition module 520 is used to acquire the first position of the vehicle according to the vehicle compartment map.

[0080] The deviation acquisition module 530 is used to acquire a position deviation between the second position of the vehicle and the first position of the vehicle according to the second position of the vehicle; wherein the first position is a reference parking position of the vehicle, and the second position is an actual parking position of the vehicle.

[0081] The map generation module 540 is used to process the position deviation and the environment map to obtain a scene map.

[0082] Figure 6 The diagram is a schematic diagram of the structure of the map acquisition module 510 according to the embodiment of the present application. Figure 6 As shown, the map acquisition module 510 includes a scanning frame acquisition unit 511 , a scanning frame processing unit 512 and a map acquisition unit 513 .

[0083] The scanning frame acquisition unit 511 is used to acquire multiple scanning frames of the surrounding environment.

[0084] The scanning frame processing unit 512 is used to generate a plurality of sub-images according to each of the scanning frames.

[0085] The map acquisition unit 513 is used to acquire the environment map and the compartment map according to each of the sub-maps.

[0086] In the several embodiments provided in the present application, it should be understood that the disclosed system, device or method can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules / units is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules or units, which can be electrical, mechanical or other forms.

[0087] The modules / units described as separate components may or may not be physically separated, and the components displayed as modules / units may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules / units may be selected according to actual needs to achieve the purpose of the embodiments of the present application. For example, the functional modules / units in the various embodiments of the present application may be integrated into one processing module, or each module / unit may exist physically separately, or two or more modules / units may be integrated into one module / unit.

[0088] Those of ordinary skill in the art should further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0089] An embodiment of the present application also provides an electronic device. Figure 7 The structure diagram of the electronic device 700 described in the embodiment of the present application is shown. Figure 7 As shown, in this embodiment, the electronic device 700 includes a memory 710 and a processor 720 .

[0090] The memory 710 is used to store computer programs; preferably, the memory 710 includes: ROM, RAM, disk, USB flash drive, memory card or CD-ROM and other media that can store program codes.

[0091] Specifically, the memory 710 may include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) and / or a cache memory. The electronic device 700 may further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory 710 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present application.

[0092] The processor 720 is connected to the memory 710 and is used to execute the computer program stored in the memory 710 so that the electronic device 700 executes the scene map generation method described in any embodiment of the present application.

[0093] Optionally, the processor 720 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, and discrete hardware components.

[0094] Optionally, the electronic device 700 in this embodiment may further include a display 730. The display 730 is communicatively connected to the memory 710 and the processor 720, and is used to display a graphical user interface (GUI) interaction interface related to the scene map generation method described in the embodiment of the present application.

[0095] The present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the scene map generation method described in any embodiment of the present application is implemented.

[0096] The descriptions of the processes or structures corresponding to the above-mentioned figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0097] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A scene map generation method, characterized in that: include: Obtain environment map and compartment map; Obtain the first position of the vehicle according to the carriage map; Acquiring a position deviation between the second position of the vehicle and the first position of the vehicle according to the second position of the vehicle; wherein the first position is a reference parking position of the vehicle, and the second position is an actual parking position of the vehicle; Processing is performed according to the position deviation and the environment map to obtain a scene map.

2. The scene map generation method according to claim 1, characterized in that: Obtaining environment maps and cabin maps includes: Acquire multiple scan frames of the surrounding environment; generating a plurality of sub-images according to each of the scanned frames; The environment map and the vehicle compartment map are acquired according to each of the sub-maps.

3. The scene map generation method according to claim 2, characterized in that: Acquiring multiple scan frames includes: Acquire a scan frame using a scanning device; The posture of the scanning frame is adjusted according to the relative posture of the scanning frame to obtain multiple scanning frames.

4. The scene map generation method according to claim 1, characterized in that: Acquiring a position deviation between the second position of the vehicle and the first position of the vehicle according to the second position of the vehicle comprises: Acquire a reference running route of the vehicle according to the first position of the vehicle; A position deviation between the second position of the vehicle and the first position of the vehicle is acquired according to the second position of the vehicle and the reference operating route.

5. The scene map generation method according to claim 4, characterized in that: The position deviation includes an offset distance and an offset angle of the vehicle.

6. The scene map generation method according to claim 5, characterized in that: Acquiring the position deviation further includes: acquiring an offset distance and an offset angle of the vehicle relative to the reference running route using a first sensing device and a second sensing device.

7. A scene map generation system, characterized in that: include: A map acquisition module, used to acquire an environment map and a carriage map; A position acquisition module, used for acquiring a first position of the vehicle according to a carriage map; a deviation acquisition module, configured to acquire a position deviation between the second position of the vehicle and the first position of the vehicle according to the second position of the vehicle; wherein the first position is a reference parking position of the vehicle, and the second position is an actual parking position of the vehicle; A map generation module is used to process the position deviation and the environment map to obtain a scene map.

8. The scene map generation system according to claim 7, characterized in that: The map acquisition module includes: A scanning frame acquisition unit, used to acquire multiple scanning frames of the surrounding environment; A scanning frame processing unit, used for generating a plurality of sub-images according to each of the scanning frames; A map acquisition unit is used to acquire the environment map and the compartment map according to each of the sub-maps.

9. An electronic device, characterized in that: The electronic device comprises: Memory for storing computer programs; A processor, wherein the processor is used to execute the computer program stored in the memory so that the electronic device executes the scene map generation method as described in any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the scene map generation method described in any one of claims 1 to 6 is implemented.

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