Method and system for generating a ground glossiness map

Abstract

The present application relates to a kind of ground gloss map generation method and system.The method includes obtaining the spatial range information of target operation area to be processed;Gloss value is obtained in the process of ground operation to target operation area, and time stamp of collection time is attached;Real-time acquisition of spatial position information when ground operation, and according to time stamp, gloss value and the spatial position information corresponding to collection time are synchronously associated, and the gloss sampling data containing spatial coordinates and gloss value are obtained;According to gloss sampling data, generate digital map reflecting the spatial distribution of ground gloss.The method will discrete ground gloss measurement data and spatial position corresponding association, form ground gloss map with spatial distribution significance, can directly reflect overall operation effect and local abnormal area, provide support for operation quality evaluation and maintenance optimization decision, improve the intelligent level of ground maintenance operation.

Description

Technical Field

[0001] This invention relates to the field of ground condition sensing and digital mapping technology, and in particular to a method and system for generating ground gloss maps. Background Technology

[0002] Surface gloss is one of the important indicators for measuring the effectiveness of stone floor polishing, grinding, and other maintenance operations. In scenarios such as stone floor maintenance and floor construction quality assessment, accurately obtaining information on the distribution of surface gloss is of great significance for determining whether the work has met the standards, locating areas of uneven gloss, and optimizing subsequent maintenance strategies.

[0003] Currently, the industry mainly uses manual point measurement or offline detection after the work is completed to detect and evaluate the gloss of the ground. However, whether it is manual measurement or offline detection, it usually only records the gloss value itself and does not systematically associate the gloss measurement data with the corresponding spatial location information. This makes it difficult to achieve refined, visualized and intelligent quality assessment of ground maintenance operations, which is not conducive to quantitative evaluation of maintenance effects, rapid location of problem areas and optimization and adjustment of operation parameters. Summary of the Invention

[0004] The present invention provides a method and system for generating ground gloss maps to overcome at least one of the above-mentioned technical problems existing in the prior art.

[0005] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions: In a first aspect, the present invention provides a method for generating a ground gloss map, comprising: Obtain the spatial extent information of the target work area to be processed; During the ground operation in the target work area, the gloss value is collected by a gloss measurement device and a timestamp of the collection time is added to the gloss value. The spatial location information of the target work area is acquired in real time when ground operations are carried out, and the gloss value is synchronously associated with the spatial location information corresponding to the acquisition time according to the timestamp to obtain gloss sampling data containing spatial coordinates and gloss value. Based on the gloss sampling data, a digital map reflecting the spatial distribution of ground gloss is generated within the spatial range of the target work area.

[0006] In one possible implementation of the first aspect, acquiring the gloss value via a gloss measuring device includes: Gloss values ​​are collected at preset time intervals. The gloss value is obtained by collecting data at preset displacement intervals; or, The gloss value is obtained by triggering a preset event, which includes at least one of the following: reaching a designated sampling point, completing a work trajectory, or detecting a change in the ground condition.

[0007] In one possible implementation of the first aspect, after obtaining the gloss value acquired by the gloss measurement device during ground operations on the target work area, the method further includes: If multiple initial gloss values ​​are continuously collected at the same sampling location, the multiple initial gloss values ​​are averaged, weighted averaged, or median filtered to obtain the final gloss value at the sampling location.

[0008] In one possible implementation of the first aspect, the step of acquiring the spatial location information of the target work area in real time during ground operations, and synchronously associating the gloss value with the spatial location information corresponding to the acquisition time based on the timestamp, includes: The device acquires the pose information of the mobile device body performing ground operations in the target work area in real time, and the gloss measurement device is installed on the mobile device body. Based on the installation offset and installation angle of the gloss measuring device relative to the mobile device body, coordinate compensation is performed on the pose information to determine the spatial coordinates of the actual measurement point of the gloss measuring device on the ground. Based on the timestamp, the gloss value is matched with the spatial coordinates of the actual measurement point.

[0009] In one possible implementation of the first aspect, before generating the digital map reflecting the spatial distribution of ground gloss, the method further includes: The gloss sampling data is processed, and the processing includes at least one or more of the following: outlier removal, data smoothing, and data normalization.

[0010] In one possible implementation of the first aspect, the digital map includes at least one or more of the following: a raster map, a heat map, a contour map, and a vector area map.

[0011] In one possible implementation of the first aspect, after generating the digital map reflecting the spatial distribution of ground gloss, the method further includes: The digital map is displayed, stored, and / or output for work quality assessment and / or maintenance decisions.

[0012] In one possible implementation of the first aspect, using the digital map for job quality assessment includes: Based on the digital map, the average gloss, standard deviation, or uniformity index of the target work area is statistically analyzed to determine whether the preset target gloss threshold has been reached, thereby obtaining the work quality assessment result.

[0013] In one possible implementation of the first aspect, using the digital map for maintenance decisions includes: Identify areas in the digital map whose gloss values ​​are lower than a preset target gloss threshold, mark these areas as areas to be reworked, and generate secondary work tasks.

[0014] Compared with the prior art, the present invention has at least the following beneficial effects: The method for generating a ground gloss map provided by this invention correlates discrete ground gloss measurement data with spatial location to form a ground gloss map with spatial distribution significance. This map can intuitively reflect the overall operation effect and local abnormal areas, thereby providing support for operation quality assessment and maintenance optimization decisions, and improving the intelligence and digitalization level of ground maintenance operations.

[0015] Secondly, the present invention provides a system for generating a ground gloss map, comprising: The work area acquisition module is used to acquire the spatial range information of the target work area to be processed; The gloss data acquisition module is used to acquire gloss values ​​collected by a gloss measuring device during ground operations on the target work area, and to add a timestamp of the acquisition time to each gloss value. The location association module is used to acquire the spatial location information of the target work area in real time when ground operations are carried out, and to synchronously associate the gloss value with the spatial location information corresponding to the acquisition time according to the timestamp, so as to obtain gloss sampling data containing spatial coordinates and gloss value. The map generation module is used to generate a digital map reflecting the spatial distribution of ground gloss within the spatial range of the target work area, based on the gloss sampling data.

[0016] Thirdly, the present invention provides an electronic device comprising: at least one processor and at least one memory, wherein the memory stores computer-readable instructions; the computer-readable instructions are executed by one or more of the processors to cause the electronic device to implement a method for generating a ground gloss map as described in any implementation of the first aspect.

[0017] Fourthly, the present invention provides a storage medium having a computer-executable program stored thereon, the computer-executable program being used to cause a computer to execute a method for generating a ground gloss map as in any implementation of the first aspect.

[0018] Understandably, the beneficial effects achieved by the system of the second aspect, the electronic device of the third aspect, and the storage medium of the fourth aspect provided above can be referred to in light of the beneficial effects of the first aspect and any of its possible design embodiments, which will not be repeated here. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention; Figure 2 A flowchart illustrating a method for generating a ground gloss map according to an embodiment of the present invention; Figure 3 This is a structural block diagram of a ground gloss map generation system provided in an embodiment of the present invention. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be described below with reference to the accompanying drawings. In the description of the present invention, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can represent A or B. The "or" in the present invention is merely a description of the relationship between the related objects, indicating that three relationships can exist. For example, A or B can represent: A alone, A and B simultaneously, and B alone. A and B can be singular or plural. Furthermore, in the description of the present invention, unless otherwise stated, "multiple" refers to two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items.

[0022] Furthermore, to facilitate a clear description of the technical solutions of the embodiments of the present invention, the terms "first" and "second" are used in the embodiments of the present invention to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0023] In this embodiment of the invention, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in this embodiment of the invention should not be construed as superior or more advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner for ease of understanding.

[0024] Surface gloss is one of the important indicators for measuring the effectiveness of stone floor polishing, grinding, and other maintenance operations. In scenarios such as stone floor maintenance and floor construction quality assessment, accurately obtaining information on the distribution of surface gloss is of great significance for determining whether the work has met the standards, locating areas of uneven gloss, and optimizing subsequent maintenance strategies.

[0025] Currently, the industry mainly uses manual point measurement or offline detection after the work is completed to detect and evaluate the gloss of the ground. However, whether it is manual measurement or offline detection, it usually only records the gloss value itself and does not systematically associate the gloss measurement data with the corresponding spatial location information. This makes it difficult to achieve refined, visualized and intelligent quality assessment of ground maintenance operations, which is not conducive to quantitative evaluation of maintenance effects, rapid location of problem areas and optimization and adjustment of operation parameters.

[0026] In view of this, on the one hand, embodiments of the present invention provide a method for generating a ground gloss map, comprising: acquiring spatial range information of a target work area to be processed; acquiring gloss values ​​collected by a gloss measurement device during ground work in the target work area, and attaching a timestamp of the collection time to each gloss value; acquiring spatial location information of the target work area during ground work in real time, and synchronously associating the gloss values ​​with the spatial location information corresponding to the collection time according to the timestamp to obtain gloss sampling data containing spatial coordinates and gloss values; and generating a digital map reflecting the spatial distribution of ground gloss within the spatial range of the target work area based on the gloss sampling data.

[0027] The method for generating a ground gloss map provided in this invention associates discrete ground gloss measurement data with spatial locations to form a ground gloss map with spatial distribution significance. This map can intuitively reflect the overall operation effect and local abnormal areas, thereby providing support for operation quality assessment and maintenance optimization decisions, and improving the intelligence and digitalization level of ground maintenance operations.

[0028] In some embodiments, the method for generating a ground gloss map provided by the present invention can be executed by any electronic device 20 with data processing capabilities, such as a general-purpose computer, personal computer, laptop computer, switch, or tablet computer, etc. The specific implementation of the electronic device 20 is not limited here.

[0029] Figure 1 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention is shown. The electronic device 20 includes a processor 210, a memory 220, and a communication interface 230.

[0030] Processor 210 may include one or more processing cores. Processor 210 connects to various parts within electronic device 200 using various interfaces and lines, and performs various functions and processes data of electronic device 200 by running or executing instructions, programs, code sets, or instruction sets stored in memory 220, and by calling data stored in memory 220. Optionally, processor 210 may be implemented using at least one of the following hardware forms: Central Processing Unit (CPU), Graphics Processing Unit (GPU), Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA).

[0031] The memory 220 may include random access memory (RAM) or read-only memory (ROM). Optionally, the memory 220 may include a non-transitory computer-readable storage medium. The memory 220 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 220 may include a program storage area. This program storage area may store instructions for implementing an operating system, instructions for implementing at least one function, instructions for implementing the various method embodiments described above, etc.

[0032] Communication interface 230 is used to communicate with other devices, equipment or communication networks, such as data storage devices, image processing devices or Ethernet, wireless access network (RAN), wireless local area network (WLAN), etc.

[0033] In terms of physical implementation, the aforementioned devices (such as processor 210, memory 220, and communication interface 230) can each be devices within the same device (such as a laptop computer). Alternatively, at least two of these devices can be located within the same device, i.e., as different devices within a single device, similar to the deployment of devices or components in a distributed system.

[0034] It is understood that the structure illustrated in this embodiment does not constitute a specific limitation on the electronic device 20. In other embodiments of the present invention, the electronic device 20 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0035] The following description, in conjunction with the accompanying drawings, illustrates a method for generating a ground gloss map according to an embodiment of the present invention.

[0036] like Figure 2 As shown, this embodiment of the invention provides a method for generating a ground gloss map, which may include, but is not limited to: S1: Obtain the spatial range information of the target work area to be processed.

[0037] In specific implementation, the spatial range information in the embodiments of the present invention may include, but is not limited to, the boundary of the work area, the area size, the obstacle information within the area, the area number, and the basic map information corresponding to the area, etc., which are not limited here.

[0038] Embodiments of the present invention may obtain the spatial extent information of the target work area through any one or more of the following methods: The target work area is manually selected, drawn, or entered by the user on the terminal interface; The target work area is automatically extracted after the mobile device performs environmental mapping based on LiDAR, vision sensor, depth sensor or other environmental perception devices; Call existing navigation maps, grid maps, semantic maps, or historical operation maps to determine the target operation area for which the gloss map is to be generated; The preset task area can be directly loaded using preset task parameters.

[0039] S2: Obtain the gloss value collected by the gloss measurement device during the ground operation of the target work area, and add a timestamp of the collection time to the gloss value.

[0040] In specific implementation, the gloss measuring device in this embodiment of the invention can be a contact or non-contact gloss sensor, which is installed on the bottom, front, rear, or other suitable locations for ground detection of the mobile device, facing the area to be measured on the ground. The mobile device can be a floor grinder, floor polisher, or other maintenance equipment with floor maintenance functions, or it can simply be a mobile carrier for a gloss measuring device, such as a mobile unmanned vehicle or a mobile robot dog, etc., without limitation.

[0041] In the specific implementation process, the acquisition of gloss values ​​obtained by a gloss measuring device during ground operations on the target work area, as described in this embodiment of the invention, can be understood as follows: When the mobile device is a maintenance device with ground maintenance function, the acquisition of gloss values ​​obtained by the gloss measuring device during the ground operation of the target work area can be understood as: the maintenance device is performing ground maintenance work, and at the same time, the gloss measuring device installed on the maintenance device is collecting gloss values; or it can be understood as: the maintenance device is not performing ground maintenance work, but only serves as a mobile carrier, carrying the gloss measuring device to collect gloss values ​​from the ground.

[0042] When the mobile device is merely a mobile carrier for the gloss measurement device, the acquisition of gloss values ​​obtained by the gloss measurement device during ground operations in the target work area can be understood as: the mobile device carrying the gloss measurement device performs gloss collection operations on the ground.

[0043] In the specific implementation process, before officially starting to collect gloss values ​​through the gloss measuring device, the gloss measuring device will be calibrated or adjusted. Specifically, this may include: The gloss measuring device is powered on, performs a self-test, a communication connection test, and loads parameters to complete initialization; Using a standard reference plate, a known gloss sample, or preset calibration parameters, the gloss measuring device is calibrated for zero point, gain, or measurement angle to improve the measurement accuracy and consistency of the gloss measuring device.

[0044] After calibration or standardization, the gloss value collection will begin.

[0045] In one feasible implementation, the gloss value acquired by the gloss measuring device in this embodiment of the invention may include, but is not limited to: Gloss values ​​are collected at preset time intervals. The gloss value is obtained by collecting data at preset displacement intervals; or, The gloss value is obtained by triggering a preset event, which includes at least one of the following: reaching a designated sampling point, completing a work trajectory, or detecting a change in the ground condition.

[0046] In specific implementation, the preset time interval in the embodiments of the present invention can be 100ms, 200ms or other fixed periods, which are not limited here; the preset displacement interval can be 1cm, 5cm or 10cm, etc., which are also not limited here.

[0047] After acquiring the gloss value through the gloss measurement device, a timestamp of the sampling time is added to the gloss value. Then, the gloss value and the corresponding timestamp are stored in the local cache or sent to the host computer, edge computing terminal or server in real time.

[0048] In specific implementation, when adding a sampling time timestamp to the gloss value, the embodiments of the present invention can use a sampling time timestamp to add a sampling time timestamp to each gloss value, or other methods can be used, such as using equidistant sampling (e.g., every 10 times) to add sampling time timestamps to the gloss value, etc., without limitation.

[0049] In one feasible implementation, after obtaining the gloss value acquired by the gloss measurement device during ground operations on the target work area, the embodiments of the present invention may, but are not limited to, further include: If multiple initial gloss values ​​are continuously collected at the same sampling location, the multiple initial gloss values ​​are averaged, weighted averaged, or median filtered to obtain the final gloss value at the sampling location.

[0050] In practical implementation, when the mobile device is moving, it may encounter obstacles and stop. At this time, the gloss measurement device continuously collects gloss values, resulting in multiple initial gloss values ​​being collected consecutively at the same sampling location. When multiple initial gloss values ​​are collected consecutively at the same sampling location, this embodiment of the invention performs averaging, weighted averaging, or median filtering on the multiple initial gloss values ​​to obtain the final gloss value at the sampling location, avoiding the problem of subsequent processing failures or errors due to multiple consecutive gloss values ​​at the same sampling location.

[0051] In practical implementation, besides the possibility of multiple initial gloss values ​​being collected consecutively at the same sampling location due to mobile device pauses, this embodiment of the invention can also pre-set the mobile device's movement rules, stipulating that gloss values ​​be collected at least multiple times (e.g., 3 times, 5 times, etc.) at the same sampling point before moving to the next sampling point. Then, the multiple sampling results are averaged, weighted averaged, filtered by median, or confidence-filtered to obtain the final gloss value at the sampling location. By continuously acquiring multiple gloss values ​​at each sampling point and then performing averaging, weighted average, median filtering, or confidence-filtering, the stability of the data can be effectively improved.

[0052] S3: Real-time acquisition of spatial location information when performing ground operations on the target work area, and synchronous association of the gloss value with the spatial location information corresponding to the acquisition time based on the timestamp, to obtain gloss sampling data containing spatial coordinates and gloss value.

[0053] In one feasible implementation, the real-time acquisition of spatial location information during ground operations on the target work area, and the synchronous association of the gloss value with the spatial location information corresponding to the acquisition time based on the timestamp, may include, but is not limited to: The device acquires the pose information of the mobile device body performing ground operations in the target work area in real time, and the gloss measurement device is installed on the mobile device body. Based on the installation offset and installation angle of the gloss measuring device relative to the mobile device body, coordinate compensation is performed on the pose information to determine the spatial coordinates of the actual measurement point of the gloss measuring device on the ground. Based on the timestamp, the gloss value is matched with the spatial coordinates of the actual measurement point.

[0054] In specific implementation, the pose information can be provided by the positioning module of the mobile device, which can obtain the pose of the mobile device through any one or more of the following methods: LiDAR positioning and map matching; Visual odometry, inertial navigation, and wheel speed odometry are integrated into a single positioning system. SLAM real-time localization and mapping; UWB, QR code, magnetic strip, landmark or other auxiliary positioning methods; Relocation based on existing maps.

[0055] It should be noted that the various positioning methods listed in the embodiments of the present invention are all existing known positioning methods, and the specific positioning process will not be described in detail here.

[0056] In specific implementation, the positioning module provides the spatial coordinates of the mobile device body, such as the center coordinates (x, y) of the mobile device body. The gloss measuring device may be installed at the front, rear, or side of the mobile device body, and there is an installation offset (Δx, Δy) between it and the center coordinates of the mobile device body. Therefore, this embodiment of the invention performs coordinate compensation on the pose information of the mobile device body obtained through the positioning module, thereby obtaining accurate spatial coordinates (x+Δx, y+Δy) representing the actual measurement point. If the measurement angle of the gloss measuring device is not directly facing the ground (usually it is), i.e., there is an installation angle offset, the offset is also calculated based on the offset angle to obtain accurate spatial coordinates representing the actual measurement point.

[0057] In the specific implementation process, after obtaining the spatial coordinates of the actual measurement points, time synchronization is performed, and the spatial coordinates are uniformly converted to a preset map coordinate system, world coordinate system, work area coordinate system, or robot coordinate system. Based on the timestamp of the gloss value, the spatial coordinates of the same or closest time are extracted from the spatial coordinate data stream, and the gloss value is matched one by one with the corresponding spatial coordinates to form gloss sampling data that includes at least "coordinates, gloss value, and timestamp".

[0058] In practice, since gloss values ​​and spatial location information are two independent data streams, anomalies may occur when aligning them over time, for example: Timestamps are not perfectly aligned: The two devices operate at different frequencies. For example, a gloss sensor samples every 100 ms, while laser SLAM updates its position every 50 ms. Alternatively, even if the frequencies are the same, there may be slight drift in the clock sources of both devices, resulting in a systematic millisecond-level discrepancy in the timestamps.

[0059] Location data loss or fluctuations: In areas with sparse environmental features (such as long corridors or large areas of uniform ground), laser SLAM may experience momentary loss of location or "getting lost"; wheel slippage or obstruction of the visual sensor can cause the odometer data to change or become invalid in a short period of time.

[0060] Communication layer anomaly: Sensor data is lost due to interference during transmission, resulting in only gloss data and no location data for a certain period of time, and vice versa.

[0061] When the above-mentioned abnormality occurs, the embodiments of the present invention may handle the abnormality in the following ways, but are not limited to: (1) Interpolation processing is used to solve problems such as time misalignment or slight gaps in positioning data, for example: Location data is available at time t1 (coordinates x1, y1) and time t3 (coordinates x3, y3), but gloss data is collected at time t2 (t1 < t2 < t3).

[0062] At this point, instead of forcibly pairing the gloss value of t2 with the coordinates of t1 or t3, an estimated position coordinate at time t2 is calculated based on the coordinates of t1 and t3 using linear interpolation or a higher-order interpolation algorithm, and then the gloss value is assigned to this calculated coordinate.

[0063] (2) Compensation processing, used to resolve systematic deviations, for example: It was discovered that the timestamps of the entire dataset had a fixed lag or lead deviation of 50ms (for example, the clocks of the gloss sensor and the positioning system were not accurately synchronized).

[0064] Before association, a calibration compensation value is uniformly added to or subtracted from the timestamps of all gloss data, and then the matching is performed.

[0065] (3) Rejection process, used to handle data with serious errors. For example: The positioning data changed by more than 50cm in a single second (which is physically impossible), or the gloss sensor output an error value far exceeding its range (such as -999 or 9999).

[0066] If the glossiness data or the corresponding location data is deemed invalid, it will be removed from the dataset to be associated and will not be included in subsequent map generation.

[0067] (4) Labeling, a cautious strategy for handling uncertain situations. For example: The covariance (uncertainty) of the location data suddenly increases in a certain area, indicating that the system is "not very confident" in its own location at this time, but has not completely lost its location.

[0068] At this point, the glossiness data is still associated with the most likely location, but it is marked with a special "low confidence" tag. In subsequent data processing steps, this type of marked data can be treated specially, for example, displayed with a specific symbol on the final map, indicating "Data here is for reference only," etc.

[0069] S4: Based on the gloss sampling data, generate a digital map reflecting the spatial distribution of ground gloss within the spatial range of the target work area.

[0070] In one feasible implementation, before generating the digital map reflecting the spatial distribution of ground gloss, embodiments of the present invention may include, but are not limited to, the following: The gloss sampling data is processed in a manner that includes at least one or more of the following: Abnormal data removal: Remove sampled values ​​that are outside the reasonable measurement range, have abnormal fluctuations, are duplicated, or are obviously affected by sensor jitter; Data smoothing: Methods such as moving average, convolution smoothing, neighborhood filtering, and Gaussian filtering are used to reduce local noise; Data normalization: Based on different ground materials, different equipment, or different batch measurement conditions, the gloss values ​​are normalized or standardized to facilitate horizontal comparison.

[0071] This invention, through processing the gloss sampling data, enables the final digital map to reflect the actual gloss of the ground more realistically, stably, and fairly, thereby improving the authenticity and reliability of the digital map.

[0072] In the specific implementation process, it should be noted that the above-mentioned processing methods are all existing conventional data processing methods, and the specific processing procedures and steps will not be elaborated here. In addition, besides the above-mentioned processing methods, embodiments of the present invention can also perform downsampling for densely sampled local areas, interpolate to supplement points for sparsely sampled areas, and classify the sampled data according to work rounds, time periods, regional blocks, or material types, etc., without limitation here.

[0073] In one feasible implementation, after processing the glossiness sampling data, embodiments of the present invention can generate, but are not limited to, any one or more of the following forms of digital maps: The grid map divides the target work area into multiple grid cells, and assigns a gloss attribute value to the corresponding grid cell based on the gloss sampling data (such as taking the average value) falling into each grid cell; A heatmap, based on the spatial location and value of the gloss sampling data, expresses the gloss distribution in the form of a color gradient (e.g., from blue to red); A contour map is created by connecting spatial locations with the same gloss values ​​or within the same preset range to form a closed curve. The vector region map generates spatial vector blocks with gloss attribute information based on the gloss sampling data.

[0074] In one feasible implementation, after generating the digital map reflecting the spatial distribution of ground gloss, the embodiments of the present invention may, but are not limited to, further include: The digital map is displayed, stored, and / or output for work quality assessment and / or maintenance decisions.

[0075] In specific implementation, the digital map can be displayed, stored, and / or output in the following ways: visually displaying the gloss map on a local display terminal, host computer interface, robot operation interface, or mobile terminal; saving map data, sampling point data, and analysis results as local files, database records, or cloud data; outputting images, reports, task records, or regional quality assessment results; and comparing with historical operation results to form trend analysis results.

[0076] In one feasible implementation, the use of the digital map for job quality assessment in this embodiment of the invention may include, but is not limited to: Based on the digital map, the average gloss, standard deviation, or uniformity index of the target work area is statistically analyzed to determine whether the preset target gloss threshold has been reached, thereby obtaining the work quality assessment result.

[0077] In specific implementation, the target gloss threshold in the embodiments of this invention is set according to actual needs, such as 85 GU, 90 GU, etc., and is not limited here. In addition to determining whether the preset target gloss threshold has been reached, the embodiments of this invention can also determine whether there are abnormal low gloss areas in the region, and whether the gloss distribution is uniform, etc., and are not limited here.

[0078] In specific implementation, the digital map in this embodiment of the invention can be used not only for work quality assessment, but also for result analysis. For example, it can be used to analyze the correspondence between different work paths, number of work operations, dwell time, brush pressure, spraying parameters and gloss results; analyze whether the persistently low gloss in a certain area is related to missed work, insufficient work overlap, insufficient corner coverage or abnormal equipment parameters; compare gloss maps generated at different times in the same area to analyze the trend of ground maintenance effect, etc., without limitation.

[0079] In one feasible implementation, the use of the digital map for maintenance decision-making in this embodiment of the invention may include, but is not limited to: Identify areas in the digital map whose gloss values ​​are lower than a preset target gloss threshold, mark these areas as areas to be reworked, and generate secondary work tasks.

[0080] In specific implementation, the maintenance decision in this embodiment of the invention may also include prompting the area to perform additional polishing, grinding, or local fine work when the gloss of the edge or corner area shown on the map is significantly lower; determining that the maintenance work is completed when the overall gloss has reached the preset standard and the uniformity meets the requirements; and optimizing and adjusting the subsequent equipment travel path, brush pressure, working speed, liquid spray volume, or number of operations based on the gloss distribution results of different areas, etc., without limitation.

[0081] The method for generating a ground gloss map provided in this embodiment of the invention correlates discrete ground gloss measurement data with spatial location to form a ground gloss map with spatial distribution significance. This map can intuitively reflect the overall operation effect and local abnormal areas, thereby providing data support for operation quality assessment and maintenance optimization decisions, and improving the intelligence and digitalization level of ground maintenance operations.

[0082] Based on the method for generating a ground gloss map provided in the first aspect, embodiments of the present invention provide a system for generating a ground gloss map, such as... Figure 3 As shown, the system for generating the ground gloss map includes: The work area acquisition module 110 is used to acquire the spatial range information of the target work area to be processed. The gloss data acquisition module 120 is used to acquire gloss values ​​collected by the gloss measurement device during ground operations on the target work area, and to add a timestamp of the acquisition time to each gloss value. The location association module 130 is used to acquire the spatial location information of the target work area in real time when ground work is carried out, and to synchronously associate each gloss value with the spatial location information at the time of acquisition according to the timestamp, so as to obtain gloss sampling data containing spatial coordinates and gloss values. The map generation module 140 is used to generate a digital map reflecting the spatial distribution of ground gloss within the spatial range of the target work area based on the gloss sampling data.

[0083] Based on the method for generating a ground gloss map provided in the first aspect, this embodiment of the invention also provides a storage medium storing a computer-executable program. The computer-executable program is used to cause a computer to execute the method for generating a ground gloss map as described in any implementation of the first aspect. Explanations of the relevant content and descriptions of the beneficial effects of any of the computer-readable storage media provided above can be found in the corresponding embodiments described above, and will not be repeated here.

[0084] Those skilled in the art will understand that the program for implementing all or part of the steps of the above embodiments, which can be executed by a program instructing related hardware, can be stored in a computer-readable storage medium. The storage medium mentioned above can be a read-only memory, a random access memory, etc. The processing unit or processor mentioned above can be a central processing unit, a general-purpose processor, an application-specific integrated circuit (ASIC), a microprocessor (DSP), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof.

[0085] This invention also provides a computer program product containing instructions that, when executed on a computer, cause the computer to perform any of the methods described in the above embodiments. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this invention is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., SSD), etc.

[0086] It should be noted that the devices for storing computer instructions or computer programs provided in the embodiments of the present invention, such as, but not limited to, the aforementioned memory, computer-readable storage medium, and communication chip, are all non-transitory. Those skilled in the art should recognize that the functions described in the embodiments of the present invention in one or more of the above examples can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable storage medium or transmitted as one or more instructions or code on a computer-readable storage medium. Computer-readable storage media include computer storage media and communication media, wherein communication media include any medium that facilitates the transmission of computer programs from one place to another. Storage media can be any available medium accessible to general-purpose or special-purpose computers.

[0087] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for generating a ground gloss map, characterized in that, include: Obtain the spatial extent information of the target work area to be processed; During the ground operation in the target work area, the gloss value is collected by a gloss measurement device and a timestamp of the collection time is added to the gloss value. The spatial location information of the target work area is acquired in real time when ground operations are carried out, and the gloss value is synchronously associated with the spatial location information corresponding to the acquisition time according to the timestamp to obtain gloss sampling data containing spatial coordinates and gloss value. Based on the gloss sampling data, a digital map reflecting the spatial distribution of ground gloss is generated within the spatial range of the target work area.

2. The method for generating a ground gloss map according to claim 1, characterized in that, The gloss value acquired by the gloss measuring device includes: Gloss values ​​are collected at preset time intervals. The gloss value is obtained by collecting data at preset displacement intervals; or, The gloss value is obtained by triggering a preset event, which includes at least one of the following: reaching a designated sampling point, completing a work trajectory, or detecting a change in the ground condition.

3. The method for generating a ground gloss map according to claim 1, characterized in that, After acquiring the gloss value obtained by the gloss measurement device during the ground operation of the target work area, the method further includes: If multiple initial gloss values ​​are continuously collected at the same sampling location, the multiple initial gloss values ​​are averaged, weighted averaged, or median filtered to obtain the final gloss value at the sampling location.

4. The method for generating a ground gloss map according to claim 1, characterized in that, The real-time acquisition of spatial location information during ground operations on the target work area, and the synchronization and association of the gloss value with the spatial location information corresponding to the acquisition time based on the timestamp, includes: The device acquires the pose information of the mobile device body performing ground operations in the target work area in real time, and the gloss measurement device is installed on the mobile device body. Based on the installation offset and installation angle of the gloss measuring device relative to the mobile device body, coordinate compensation is performed on the pose information to determine the spatial coordinates of the actual measurement point of the gloss measuring device on the ground. Based on the timestamp, the gloss value is matched with the spatial coordinates of the actual measurement point.

5. The method for generating a ground gloss map according to claim 1, characterized in that, Before generating the digital map reflecting the spatial distribution of ground gloss, the following steps are also included: The gloss sampling data is processed, and the processing includes at least one or more of the following: outlier removal, data smoothing, and data normalization.

6. The method for generating a ground gloss map according to claim 1, characterized in that, The digital map includes at least one or more of the following: raster map, heat map, contour map, and vector area map.

7. The method for generating a ground gloss map according to claim 1, characterized in that, After generating the digital map reflecting the spatial distribution of ground gloss, the method further includes: The digital map is displayed, stored, and / or output for work quality assessment and / or maintenance decisions.

8. The method for generating a ground gloss map according to claim 7, characterized in that, The use of the digital map for job quality assessment includes: Based on the digital map, the average gloss, standard deviation, or uniformity index of the target work area is statistically analyzed to determine whether the preset target gloss threshold has been reached, thereby obtaining the work quality assessment result.

9. The method for generating a ground gloss map according to claim 7, characterized in that, The use of the digital map for maintenance decision-making includes: Identify areas in the digital map whose gloss values ​​are lower than a preset target gloss threshold, mark these areas as areas to be reworked, and generate secondary work tasks.

10. A system for generating a ground gloss map, characterized in that, include: The work area acquisition module is used to acquire the spatial range information of the target work area to be processed; The gloss data acquisition module is used to acquire the gloss value collected by the gloss measurement device during the ground operation of the target work area, and to add a timestamp of the acquisition time to the gloss value. The location association module is used to acquire the spatial location information of the target work area in real time when ground operations are carried out, and to synchronously associate the gloss value with the spatial location information corresponding to the acquisition time according to the timestamp, so as to obtain gloss sampling data containing spatial coordinates and gloss value. The map generation module is used to generate a digital map reflecting the spatial distribution of ground gloss within the spatial range of the target work area, based on the gloss sampling data.

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