Method and device for updating point location information of GIS (Geographic Information System) map

Abstract

The invention discloses a point location information updating method and device of a GIS map, and the method comprises the steps: constructing a laser map of an environment; establishing a point position corresponding relation between the laser map and the GIS map; obtaining a point location list in the GIS map to obtain point locations needing to be patrolled; adopting a path planning algorithm to generate an optimal path for inspecting each point location according to the distribution information of the point locations in the laser map; controlling the robot to run according to the optimal path by adopting an SLAM technology, and acquiring image information of each point location in the running process; performing visual model identification on the image information of each point location to extract first point location information, and comparing the first point location information with second point location information in the GIS map to automatically update the second point location information inconsistent with the first point location information; therefore, the GIS map point location updating frequency and accuracy are improved, and the labor cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of geographic information systems, and in particular to a method for updating point information of a GIS map, a computer-readable storage medium, a computer device, and a device for updating point information of a GIS map. Background Art

[0002] In related technologies, GIS map points are point-like elements used to represent specific locations in geographic space in the Geographic Information System (GIS). They are one of the basic components of geographic data and are used to describe the location, attributes, and functions of geographic entities. Existing GIS map point information updates mainly rely on manual offline inspections. Due to labor cost and efficiency limitations, point changes often cannot be updated on the GIS map in a timely manner. Summary of the Invention

[0003] The present application aims to solve, at least to some extent, one of the technical problems in the above-mentioned technology. To this end, one purpose of the present application is to propose a method for updating point information of a GIS map, which uses a robot to establish a SLAM laser map for inspection, and uses visual model recognition technology to automatically identify point information and compare and update it with the GIS map, thereby improving the frequency and accuracy of GIS map point updates and reducing labor costs.

[0004] A second object of the present application is to provide a computer-readable storage medium.

[0005] The third object of this application is to provide a computer device.

[0006] The fourth objective of this application is to propose a point information updating device based on GIS map.

[0007] To achieve the above-mentioned objectives, the first embodiment of the present application proposes a method for updating point information of a GIS map, comprising constructing a laser map of an environment; establishing a point correspondence between the laser map and the GIS map; obtaining a list of points in the GIS map to obtain points that need to be inspected; using a path planning algorithm to generate an optimal path for inspecting each point based on the distribution information of the points in the laser map; using SLAM technology to control a robot to travel according to the optimal path, and obtaining image information of each point during the driving process; performing visual model recognition on the image information of each point to extract first point information, and comparing the first point information with second point information in the GIS map to automatically update the second point information that is inconsistent with the first point information.

[0008] According to the method for updating point information of a GIS map in an embodiment of the present application, first, a laser map of the environment is constructed; then, a point correspondence relationship between the laser map and the GIS map is established; then, a list of points in the GIS map is obtained to obtain the points that need to be inspected; then, a path planning algorithm is used to generate an optimal path for inspecting each point based on the distribution information of the points in the laser map; then, SLAM technology is used to control the robot to travel according to the optimal path, and image information of each point is obtained during the driving process; finally, visual model recognition is performed on the image information of each point to extract first point information, and the first point information is compared with the second point information in the GIS map to automatically update the second point information that is inconsistent with the first point information; thereby, the frequency and accuracy of GIS map point updates are improved, and labor costs are reduced.

[0009] In addition, the method for updating point information of a GIS map proposed in the above embodiment of the present application may also have the following additional technical features:

[0010] Optionally constructing a laser map of the environment includes: setting a laser radar sensor on the robot so that when the robot moves in the environment, the laser radar sensor performs laser scanning on the environment to obtain corresponding point cloud data; and using a SLAM algorithm to process the point cloud data to obtain a constructed laser map.

[0011] Optionally, establishing a point correspondence between the laser map and the GIS map includes: establishing a correspondence between points with the same information on the laser map and the GIS map through a same unique identifier.

[0012] Optionally, before using SLAM technology to control the robot to travel according to the optimal path, it also includes: obtaining a preset inspection schedule, so as to use SLAM technology to control the robot to travel according to the optimal path according to the inspection schedule to complete the scheduled inspection.

[0013] To achieve the above-mentioned purpose, the second embodiment of the present application proposes a computer-readable storage medium, on which a GIS map point information update program is stored. When the GIS map point information update program is executed by a processor, the GIS map point information update method as described above is implemented.

[0014] To achieve the above-mentioned purpose, the third aspect embodiment of the present application proposes a computer device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the program, it implements the point information updating method of the GIS map as described above.

[0015] To achieve the above-mentioned purpose, the fourth embodiment of the present application proposes a point information updating device for a GIS map, comprising a map construction module for constructing a laser map of an environment; a correspondence establishment module for establishing a point correspondence between the laser map and the GIS map; a first acquisition module for acquiring a list of points in the GIS map to obtain points that need to be inspected; a path planning module for using a path planning algorithm to generate an optimal path for inspecting each point based on the distribution information of the points in the laser map; an image acquisition module for using SLAM technology to control the robot to travel according to the optimal path and to obtain image information of each point during the driving process; and an automatic update module for performing visual model recognition on the image information of each point to extract first point information, and comparing the first point information with the second point information in the GIS map to automatically update the second point information that is inconsistent with the first point information.

[0016] In addition, the GIS map point information updating device proposed in the above embodiment of the present application may also have the following additional technical features:

[0017] Optionally, the map construction module is also used to set a lidar sensor on the robot so that when the robot moves in the environment, the lidar sensor performs laser scanning on the environment to obtain corresponding point cloud data; and use a SLAM algorithm to process the point cloud data to obtain a constructed laser map.

[0018] Optionally, the correspondence establishing module is further used to establish a correspondence between points with the same information on the laser map and the GIS map through the same unique identifier.

[0019] Optionally, a second acquisition module is also included, which is used to obtain a preset inspection schedule before using SLAM technology to control the robot to travel according to the optimal path, so as to use SLAM technology to control the robot to travel according to the optimal path according to the inspection schedule to complete the scheduled inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of a flow chart of a method for updating point information of a GIS map according to an embodiment of the present application;

[0021] Figure 2 1 is a flow chart of a method for updating point information of a GIS map according to one embodiment of the present application;

[0022] Figure 3 Schematic diagram of a block diagram of a device for updating point information of a GIS map according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0024] To better understand the above technical solutions, exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. Instead, these embodiments are provided to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0025] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0026] Figure 1 FIG. 1 is a flow chart of a method for updating point information of a GIS map according to an embodiment of the present application, as shown in FIG. Figure 1 As shown, the method for updating point information of the GIS map includes the following steps:

[0027] S101, build a laser map of the environment.

[0028] As an embodiment, constructing a laser map of an environment includes: setting a laser radar sensor on a robot so that when the robot moves in the environment, the laser radar sensor performs laser scanning on the environment to obtain corresponding point cloud data; and using a SLAM algorithm to process the point cloud data to obtain a constructed laser map.

[0029] That is to say, the robot is equipped with a laser radar (LiDAR) sensor, which obtains point cloud data of the surrounding environment through laser scanning technology and processes it through the SLAM algorithm; the robot gradually builds a complete laser map by continuously moving and scanning, and the map represents the geometric structure of the environment in the form of point cloud data.

[0030] Specifically, LiDAR measures the distance between the robot and surrounding objects by emitting laser beams and receiving reflected light. It can obtain distance information in the environment with high precision and high frequency, forming a three-dimensional point cloud (3D Point Cloud). These point cloud data can be used to describe the shape and structure of the environment. When the robot moves in the environment, the LiDAR continuously scans the surrounding environment and collects distance information. By analyzing the point cloud data collected by the LiDAR, the robot determines its position and posture in the environment. At the same time, the robot uses this point cloud data to build a map of the environment, usually in the form of a grid or point cloud. As the robot moves, new point cloud data is continuously collected and integrated into the map, and the accuracy and consistency of the map are optimized through algorithms.

[0031] S102: Establishing a point correspondence relationship between the laser map and the GIS map.

[0032] As an embodiment, establishing a point correspondence relationship between the laser map and the GIS map includes: establishing a correspondence relationship between points with the same information on the laser map and the GIS map through the same unique identifier.

[0033] That is to say, the GIS map and the laser map both use the same unique identification ID to establish a corresponding relationship; for example, the unique identification of point A on the GIS map and the SLAM laser map is "00001".

[0034] S103, obtaining a list of points in the GIS map to obtain the points that need to be inspected.

[0035] In other words, the points that need to be inspected can be determined based on the point list in the GIS map.

[0036] S104: Using a path planning algorithm to generate an optimal path for inspecting each point based on the distribution information of the points in the laser map.

[0037] That is, the point distribution information in the SLAM laser map is used in combination with the path planning algorithm to generate the optimal inspection path from the robot's starting point to each point.

[0038] It should be noted that the above-mentioned path planning algorithm can adopt the A* algorithm, Dijkstra algorithm or graph-based path planning method, and the optimal path can be obtained by considering the following factors: 1. Shortest path: ensure that the robot reaches each point in the shortest distance; 2. Obstacle avoidance requirements: avoid known obstacles or prohibited areas; 3. Task priority: arrange the inspection order according to the importance or urgency of the point; 4. Environmental dynamics: considering that the environment may change (such as new obstacles), path planning needs to have a certain degree of flexibility.

[0039] S105, using SLAM technology to control the robot to drive along the optimal path, and obtain image information of each point during the driving process.

[0040] As an embodiment, before using SLAM technology to control the robot to travel along the optimal path, it also includes: obtaining a preset inspection schedule, so as to use SLAM technology to control the robot to travel along the optimal path according to the inspection schedule to complete the scheduled inspection.

[0041] As an embodiment, patrol time can be allocated to each point according to task requirements; for example, some key points may need to be patrolled once an hour, while other points can be patrolled once every 4 hours; a schedule can be generated by a task scheduling algorithm to ensure that the robot completes the patrol of all points within the specified time.

[0042] That is to say, the robot uses SLAM technology to navigate according to the preset optimal path and schedule; the SLAM algorithm updates the robot's position information in real time during the navigation process.

[0043] That is to say, the robot has positioning and navigation functions. The robot needs to know its position in the environment in real time and navigate to various points according to the preset route.

[0044] S106, performing visual model recognition on the image information of each point to extract first point information, and comparing the first point information with second point information in the GIS map to automatically update the second point information that is inconsistent with the first point information.

[0045] As an embodiment, the robot uses a camera to take photos at each point, transmits the photos to the server, recognizes the photos through visual model recognition technology, and outputs structured point information; wherein, the point information includes but is not limited to the point photo, point name, point type (such as commercial stores, public facilities, etc.); the recognition result is compared with the point information in the GIS map, including 1:1 feature comparison of the photos and point name verification, etc.; if inconsistency is found, such as the change of store, the system automatically updates the latest point information collected by the robot to the corresponding point information on the GIS map.

[0046] In addition, in order to better understand the above technical solution, as a specific embodiment, Figure 2 As shown, the following steps are included:

[0047] S1, robot point inspection.

[0048] That is to say, the robot uses SLAM technology to navigate to various inspection points according to the preset optimal path and schedule.

[0049] S2, take photos at designated points.

[0050] That is to say, a camera is used to take pictures at each point to obtain an image.

[0051] S3, identify point information.

[0052] That is, the image is processed for recognition to obtain point information.

[0053] S4, compare with GIS map point information.

[0054] S5, determine whether the point information is consistent; if not, execute S6, if yes, execute S7.

[0055] S6, update GIS map point information.

[0056] S7, determine whether all point inspections are completed; if yes, end; if not, return to S1 and re-inspect the next point.

[0057] To summarize, according to the method for updating point information of a GIS map in an embodiment of the present application, a SLAM laser map is first established by a robot, and a corresponding relationship is established with the GIS map; then, the robot is controlled to perform regular inspections of points according to the SLAM laser map, and a camera is used to take photos at each point; finally, the photos are recognized through a visual model, and the point information is structured and output to be compared with the GIS map, and inconsistent information is automatically updated; thereby, the automatic update of GIS map point information is realized, the update efficiency and accuracy are improved, and the maintenance cost is reduced.

[0058] In order to implement the above embodiment, the embodiment of the present application also proposes a computer-readable storage medium, on which a GIS map point information update program is stored. When the GIS map point information update program is executed by the processor, the GIS map point information update method as described above is implemented.

[0059] According to the computer-readable storage medium of the embodiment of the present application, by storing the point information update program of the GIS map, the processor implements the point information update method of the GIS map as described above when executing the point information update program of the GIS map. As a result, a SLAM laser map is established by a robot for inspection, and point information is automatically identified by using visual model recognition technology, and compared and updated with the GIS map, thereby improving the frequency and accuracy of GIS map point updates and reducing labor costs.

[0060] In order to implement the above embodiment, the embodiment of the present application proposes a computer device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the program, it implements the point information updating method of the GIS map as described above.

[0061] According to the computer device of the embodiment of the present application, the point information update program of the GIS map is stored in the memory, so that when the processor executes the point information update program of the GIS map, the point information update method of the GIS map as described above is implemented. Thus, a SLAM laser map is established by a robot for inspection, and point information is automatically identified by using visual model recognition technology, and compared and updated with the GIS map, thereby improving the frequency and accuracy of GIS map point updates and reducing labor costs.

[0062] In order to implement the above embodiment, the present application embodiment proposes a device for updating point information of a GIS map, such as Figure 3 As shown, the device for updating point information of a GIS map includes: a map construction module 10 , a correspondence establishment module 20 , a first acquisition module 30 , a path planning module 40 , an image acquisition module 50 and an automatic update module 60 .

[0063] Among them, the map construction module 10 is used to construct a laser map of the environment; the correspondence establishment module 20 is used to establish a point correspondence between the laser map and the GIS map; the first acquisition module 30 is used to obtain a list of points in the GIS map to obtain the points that need to be inspected; the path planning module 40 is used to use a path planning algorithm to generate an optimal path for inspecting each point based on the distribution information of the points in the laser map; the image acquisition module 50 is used to use SLAM technology to control the robot to travel according to the optimal path, and to obtain image information of each point during the driving process; the automatic update module 60 is used to perform visual model recognition on the image information of each point to extract the first point information, and compare the first point information with the second point information in the GIS map to automatically update the second point information that is inconsistent with the first point information.

[0064] Optionally, the map construction module 10 is also used to set a lidar sensor on the robot so that when the robot moves in the environment, the lidar sensor performs laser scanning on the environment to obtain corresponding point cloud data; and the point cloud data is processed using a SLAM algorithm to obtain a constructed laser map.

[0065] Optionally, the correspondence establishing module 20 is further configured to establish a correspondence between points with the same information on the laser map and the GIS map through a same unique identifier.

[0066] Optionally, the point information updating device of the GIS map also includes a second acquisition module, which is used to obtain a preset inspection schedule before using SLAM technology to control the robot to travel according to the optimal path, so as to use SLAM technology to control the robot to travel according to the optimal path according to the inspection schedule to complete the scheduled inspection.

[0067] It should be noted that the above Figure 1 The description of the point information updating method of the GIS map is also applicable to the point information updating device of the GIS map, and will not be repeated here.

[0068] In summary, according to the GIS map point information updating device of the embodiment of the present application, a laser map of the environment is constructed by a map construction module; a point correspondence between the laser map and the GIS map is established by a correspondence establishment module; a list of points in the GIS map is obtained by a first acquisition module to obtain points that need to be inspected; a path planning module adopts a path planning algorithm to generate an optimal path for inspecting each point according to the distribution information of the points in the laser map; an image acquisition module adopts SLAM technology to control the robot to travel according to the optimal path, and obtains image information of each point during the driving process; an automatic update module performs visual model recognition on the image information of each point to extract first point information, and compares the first point information with the second point information in the GIS map to automatically update the second point information that is inconsistent with the first point information; thereby, the frequency and accuracy of GIS map point updates are improved, and labor costs are reduced.

[0069] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0070] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0071] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0072] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0073] It should be noted that in the claims, any reference signs placed between brackets shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claim. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The present application may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0074] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0075] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

[0076] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0077] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on specific circumstances.

[0078] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0079] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0080] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for updating point information of a GIS map, characterized in that: The following steps are involved: Build a laser map of the environment; Establishing a point correspondence relationship between the laser map and the GIS map; Obtain a list of points in the GIS map to obtain the points that need to be inspected; A path planning algorithm is used to generate an optimal path for inspecting each point based on the distribution information of the points in the laser map; Using SLAM technology to control the robot to travel along the optimal path and obtain image information of each point during the travel process; Visual model recognition is performed on the image information of each point to extract first point information, and the first point information is compared with the second point information in the GIS map to automatically update the second point information that is inconsistent with the first point information.

2. The method for updating point information of a GIS map according to claim 1, wherein: Build a laser map of the environment, including: A laser radar sensor is provided on the robot so that when the robot moves in the environment, the laser radar sensor performs a laser scan on the environment to obtain corresponding point cloud data; The point cloud data is processed using a SLAM algorithm to obtain a constructed laser map.

3. The method for updating point information of a GIS map according to claim 1, wherein: Establishing a point correspondence relationship between the laser map and the GIS map includes: A correspondence is established between the points with the same information on the laser map and the GIS map through the same unique identifier.

4. The method for updating point information of a GIS map according to claim 1, wherein: Before using SLAM technology to control the robot to travel according to the optimal path, the method further includes: A preset inspection schedule is obtained so that the robot can be controlled to travel along the optimal path using SLAM technology according to the inspection schedule to complete the scheduled inspection.

5. A computer-readable storage medium, characterized in that A GIS map point information update program is stored thereon, and when the GIS map point information update program is executed by a processor, a GIS map point information update method as described in any one of claims 1 to 4 is implemented.

6. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method for updating point information of a GIS map according to any one of claims 1 to 4 is implemented.

7. A device for updating point information of a GIS map, characterized in that: include A map building module, used to build a laser map of the environment; A correspondence establishing module, used to establish a point correspondence between the laser map and the GIS map; The first acquisition module is used to obtain a list of points in the GIS map to obtain points that need to be inspected; A path planning module, configured to generate an optimal path for inspecting each point based on the distribution information of the points in the laser map using a path planning algorithm; An image acquisition module is used to control the robot to travel along the optimal path using SLAM technology and to obtain image information of each point during the travel process; An automatic update module is used to perform visual model recognition on the image information of each point to extract first point information, and compare the first point information with the second point information in the GIS map to automatically update the second point information that is inconsistent with the first point information.

8. The device for updating point information of a GIS map according to claim 7, wherein: The map construction module is also used to set a laser radar sensor on the robot so that when the robot moves in the environment, the laser radar sensor performs laser scanning on the environment to obtain corresponding point cloud data; and use the SLAM algorithm to process the point cloud data to obtain the constructed laser map.

9. The device for updating point information of a GIS map according to claim 7, wherein: The correspondence establishing module is further used to establish a correspondence between points with the same information on the laser map and the GIS map through the same unique identifier.

10. The device for updating point information of a GIS map according to claim 7, wherein: It also includes a second acquisition module, which is used to obtain a preset inspection schedule before using SLAM technology to control the robot to travel according to the optimal path, so as to use SLAM technology to control the robot to travel according to the optimal path according to the inspection schedule to complete the scheduled inspection.

Images