CN110376601B

CN110376601B - Method and system for determining target posture

Info

Publication number: CN110376601B
Application number: CN201811441945.1A
Authority: CN
Inventors: 李鑫
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2018-08-14
Filing date: 2018-11-29
Publication date: 2022-08-12
Anticipated expiration: 2038-11-29
Also published as: CN110376601A

Abstract

The invention discloses a method and a device for determining a target posture, and relates to the technical field of computers. One embodiment of the method comprises: using a scanning measuring device to obtain distance information and angle information of a measuring point in a scanning plane; wherein the measurement points comprise measurement points of a target surface; the target surface comprises a plurality of contiguous regions, adjacent contiguous regions being separated by a void region; determining a plurality of groups of measuring points from the obtained measuring points; wherein each group of measuring points are positioned on the same scanned surface; determining two measuring points positioned at two ends of the target surface in the plurality of groups of measuring points; and determining the attitude angle of the target surface according to the determined distance information and angle information of the two measuring points. This embodiment may determine its pose by overall detection of a discontinuous target surface.

Description

Method and system for determining target posture

Technical Field

The invention relates to the technical field of computers, in particular to a method and a system for determining a target posture.

Background

In the field of automatic driving, scanning measurement devices such as laser radars are generally adopted to detect the outline and the attitude of a target. In practical application, continuous target surfaces can be effectively detected; for a discontinuous target surface (i.e. with voids), it is generally divided into a plurality of continuous surfaces for detection, and finally, the data of each part is synthesized.

In the process of implementing the invention, the inventor finds that the prior art has at least the following problems: for a discontinuous target surface, the prior art is difficult to obtain the complete contour of the target surface, and the attitude calculation accuracy of the target surface is further influenced; in addition, existing algorithms for detecting discontinuous target surfaces are complex and have low practicality.

Disclosure of Invention

In view of the above, embodiments of the present invention provide a method and system for determining the pose of a target, which can be determined by overall detection of a discontinuous target surface.

To achieve the above object, according to one aspect of the present invention, there is provided a method of determining a target pose.

The method for determining the target attitude comprises the following steps: using a scanning measuring device to obtain distance information and angle information of a measuring point in a scanning plane; wherein the measurement points comprise measurement points of a target surface; the target surface comprises a plurality of contiguous regions, adjacent contiguous regions being separated by a void region; determining a plurality of groups of measuring points from the obtained measuring points; wherein each group of measuring points are positioned on the same scanned surface; determining two measuring points positioned at two ends of the target surface in the plurality of groups of measuring points; and determining the attitude angle of the target surface according to the determined distance information and angle information of the two measuring points.

Optionally, the obtained measurement points are measurement points arranged according to a scanning sequence in a scanning period, and the scanned surface is a plane; and determining a plurality of groups of measurement points from the obtained measurement points, specifically comprising: acquiring a distance difference value between any measuring point and an adjacent measuring point, and taking the measuring point of which the distance difference value is not more than a distance threshold value as a primary selection measuring point; and when the number of the initially selected measuring points which are continuously arranged is larger than the number threshold value, determining the initially selected measuring points as a group of measuring points.

Optionally, the determining two measurement points located at two ends of the target surface in the multiple sets of measurement points specifically includes: and matching the number of the multiple groups of measuring points with a predetermined measuring point number range of the continuous area on the scanning surface to obtain two measuring points positioned at two ends of the target surface.

Optionally, matching the number of the multiple groups of measurement points with a predetermined range of the number of measurement points of the continuous region on the scanning surface to obtain two measurement points located at two ends of the target surface, specifically including: any k groups of measurement points which are continuously arranged according to the scanning sequence correspond to all continuous areas which are continuously arranged according to the scanning sequence one by one; wherein k is the total number of the continuous areas; when the number of the measuring points of each group in the k groups is within the measuring point number range of the continuous area corresponding to the group, determining the measuring points of each group in the k groups as the measuring points of the continuous area corresponding to the group; edge measurement points of two continuous areas located at both ends of the target surface are determined as the two measurement points.

Optionally, the method further comprises: taking the measuring points positioned between two adjacent groups of measuring points in the obtained measuring points as a set; and matching the number of the multiple groups of measuring points with a predetermined measuring point number range of the continuous area on the scanning surface to obtain two measuring points at two ends of the target surface, specifically comprising: any k groups of measurement points and corresponding sets which are continuously arranged according to a scanning sequence correspond to continuous regions and corresponding gap regions which are continuously arranged according to the scanning sequence one by one; wherein k is the total number of the continuous areas; when the number of the measuring points of each group in the k groups is within the measuring point number range of the continuous region corresponding to the group, and the number of the measuring points of each set is within the measuring point number range of the gap region corresponding to the set, which is determined in advance: determining the measuring points of each group in the k groups as the measuring points of the corresponding continuous area of the group; edge measurement points of two continuous areas located at both ends of the target surface are determined as the two measurement points.

Optionally, the scanned surface is a plane; the obtained measuring points are arranged according to a scanning sequence in a scanning period; and, the method further comprises: before the distance information and the angle information of the measuring point in the scanning surface are obtained by using the scanning measuring device, a high reflection surface is arranged for each continuous area of the target surface; and when the distance information and the angle information of the measuring point in the scanning surface are acquired by using the scanning measuring device, further acquiring the reflection data of the measuring point in the scanning surface.

Optionally, the determining multiple groups of measurement points from the obtained measurement points specifically includes: removing the measuring points of which the reflection data do not accord with the preset filtering condition from the obtained measuring points; obtaining the distance difference value between any measuring point and the adjacent measuring point in the rest measuring points, and taking the measuring point of which the distance difference value is not more than the distance threshold value as a primary selection measuring point; and when the number of the initially selected measuring points which are continuously arranged is larger than the number threshold value, determining the initially selected measuring points as a group of measuring points.

Optionally, the determining two measurement points located at two ends of the target surface in the multiple sets of measurement points specifically includes: the multiple groups of measuring points arranged according to the scanning sequence correspond to all continuous areas arranged according to the scanning sequence one by one, and the measuring points of each group are determined as the measuring points of the corresponding continuous areas of the group; determining edge measurement points of two continuous areas positioned at two ends of the target surface as the two measurement points; and the reflection data is reflectivity data, and the filtering condition is as follows: the reflectivity is greater than a predetermined value.

Optionally, the attitude angle of the target surface is an included angle from the scanning reference direction to the extending direction of the target surface; the method further comprises: determining the displacement of the positioning point of the scanning measuring device and the positioning point of the target surface in the extension direction of the target surface by using the attitude angle of the target surface; the scanning measurement device includes: a single line lidar, a multiline lidar or a millimeter wave radar.

Optionally, the target is a tray provided with a plurality of parallel support legs, the target surface is a tray surface perpendicular to an extending direction of the support legs, the continuous area is a support leg end face, the angle information is scanning angle information, and a positioning point on the tray surface is a middle point of an intersection line of the tray surface and the scanning face; the measuring point scanned earlier in the two measuring points is a first measuring point, and the measuring point scanned later is a second measuring point; and determining the attitude angle gamma of the tray surface and the displacement x of the positioning point of the scanning measuring device and the positioning point of the tray surface in the extension direction of the tray surface according to the following formula:

or

Wherein l ₁ Alpha is the distance and the scanning angle of the first measuring point, l ₂ Beta is the distance and the scanning angle of the second measuring point respectively, and L is the surface length of the tray.

To achieve the above object, according to another aspect of the present invention, there is provided a system for determining a target pose.

The system for determining the target attitude of the embodiment of the invention can comprise: the scanning measuring device is used for acquiring distance information and angle information of a measuring point in a scanning plane; wherein the measurement points comprise measurement points of a target surface; the target surface comprises a plurality of contiguous regions, adjacent contiguous regions being separated by a void region; a measurement point determination unit for determining a plurality of sets of measurement points from the acquired measurement points; wherein each group of measuring points are positioned on the same scanned surface; determining two measuring points positioned at two ends of the target surface in the plurality of groups of measuring points; and the attitude detection unit is used for determining the attitude angle of the target surface according to the determined distance information and angle information of the two measuring points.

Optionally, the obtained measurement points are measurement points arranged according to a scanning sequence in a scanning period, and the scanned surface is a plane; and the measurement point determination unit may be further configured to: acquiring a distance difference value between any measuring point and an adjacent measuring point, and taking the measuring point of which the distance difference value is not more than a distance threshold value as a primary selection measuring point; and when the number of the initially selected measuring points which are continuously arranged is larger than the number threshold value, determining the initially selected measuring points as a group of measuring points.

Optionally, the measurement point determination unit may be further configured to: and matching the number of the multiple groups of measuring points with a predetermined measuring point number range of the continuous area on the scanning surface to obtain two measuring points positioned at two ends of the target surface.

Optionally, the measurement point determination unit may be further configured to: any k groups of measurement points which are continuously arranged according to the scanning sequence correspond to all continuous areas which are continuously arranged according to the scanning sequence one by one; wherein k is the total number of the continuous areas; when the number of the measuring points of each group in the k groups is within the measuring point number range of the continuous area corresponding to the group, determining the measuring points of each group in the k groups as the measuring points of the continuous area corresponding to the group; edge measurement points of two continuous areas located at both ends of the target surface are determined as the two measurement points.

Optionally, the measurement point determination unit may be further configured to: taking the measuring points positioned between two adjacent groups of measuring points in the obtained measuring points as a set; any k groups of measurement points and corresponding sets which are continuously arranged according to a scanning sequence correspond to continuous regions and corresponding gap regions which are continuously arranged according to the scanning sequence one by one; wherein k is the total number of the continuous areas; when the number of the measuring points of each group in the k groups is within the measuring point number range of the continuous region corresponding to the group, and the number of the measuring points of each set is within the measuring point number range of the gap region corresponding to the set, which is determined in advance: determining the measuring points of each group in the k groups as the measuring points of the corresponding continuous area of the group; edge measurement points of two continuous areas located at both ends of the target surface are determined as the two measurement points.

Optionally, the scanned surface is a plane; the obtained measuring points are arranged according to a scanning sequence in a scanning period; and the system may further include a reflection data acquisition unit for setting a highly reflective surface for each continuous region of the target surface before acquiring distance information and angle information of the measurement point in the scanning plane; when the distance information and the angle information of the measuring point in the scanning surface are obtained, the reflection data of the measuring point in the scanning surface are further obtained.

Optionally, the measurement point determination unit may be further configured to: removing the measuring points of which the reflection data do not accord with the preset filtering condition from the obtained measuring points; obtaining the distance difference value between any measuring point and the adjacent measuring point in the rest measuring points, and taking the measuring point of which the distance difference value is not more than the distance threshold value as a primary selection measuring point; and when the number of the initially selected measuring points which are continuously arranged is larger than the number threshold value, determining the initially selected measuring points as a group of measuring points.

Optionally, the measurement point determination unit may be further configured to: the multiple groups of measuring points arranged according to the scanning sequence correspond to all continuous areas arranged according to the scanning sequence one by one, and the measuring points of each group are determined as the measuring points of the corresponding continuous areas of the group; determining edge measurement points of two continuous areas positioned at two ends of the target surface as the two measurement points; and the reflection data is reflectivity data, and the filtering condition is as follows: the reflectivity is greater than a predetermined value.

Optionally, the attitude angle of the target surface is an included angle from the scanning reference direction to the extending direction of the target surface; the scanning measurement device includes: a single line laser radar, a multi-line laser radar, or a millimeter wave radar; the gesture detection unit may be further operable to: and determining the displacement of the positioning point of the scanning measuring device and the positioning point of the target surface in the extension direction of the target surface by using the attitude angle of the target surface.

Optionally, the target is a tray provided with a plurality of parallel support legs, the target surface is a tray surface perpendicular to an extending direction of the support legs, the continuous area is a support leg end face, the angle information is scanning angle information, and a positioning point on the tray surface is a middle point of an intersection line of the tray surface and the scanning face; the measurement point scanned earlier in the two measurement points is a first measurement point, and the measurement point scanned later is a second measurement point; and, the gesture detection unit may be further configured to: determining the attitude angle gamma of the surface of the tray and the displacement x of the positioning point of the scanning measuring device and the positioning point of the surface of the tray in the extension direction of the surface of the tray according to the following formula:

or

To achieve the above object, according to still another aspect of the present invention, there is provided an electronic apparatus.

An electronic device of the present invention includes: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method of determining a target pose provided by the present invention.

To achieve the above object, according to still another aspect of the present invention, there is provided a computer-readable storage medium.

A computer-readable storage medium of the invention has stored thereon a computer program which, when being executed by a processor, carries out the method of determining a target pose provided by the invention.

According to the technical scheme of the invention, one embodiment of the invention has the following advantages or beneficial effects:

first, the present invention provides two methods of detection of a discontinuous target surface: in the first method, multiple groups of measuring points on the same scanned surface (namely, each group of measuring points is on the same scanned surface) are obtained by detecting the distance difference between each measuring point and the adjacent measuring points thereof and the number of continuous measuring points, and the measuring points of each continuous region can be determined by matching the number of the measuring points of each group with the number range of the measuring points of the predetermined continuous region of the target surface, so that the integral detection of the target surface is realized, and the problems that the integral detection cannot be performed and the algorithm complexity is high in the prior art when a discontinuous target surface is faced are solved. In the second method, high reflection surfaces are arranged for continuous areas of a target surface in advance, reflection data of measurement points are obtained in the detection process, then the measurement points with reflection data meeting the filtering condition are screened out, the measurement points corresponding to each continuous area are obtained through detecting the distance difference between each measurement point and the adjacent measurement points and the number of the continuous measurement points, and therefore the overall detection of the target surface is achieved in another mode.

Secondly, in the first method, in order to improve the detection precision, the invention can further match the measuring points between each adjacent group of measuring points with the predetermined measuring point number range of the gap area on the basis of the matching; and only when the two matching modes are successful, the corresponding measuring points are used as the measuring points of the continuous area.

Thirdly, after the measuring points of the continuous area of the target surface are obtained, the attitude angle of the target surface and the relative displacement between the target surface and the scanning measuring device can be calculated by utilizing the edge measuring points (namely the two measuring points positioned at the outermost side of the target surface), so that the accurate perception of the attitude and the direction of the target is realized, and the support is provided for the subsequent action.

Fourthly, the method can be applied to various scenes for target detection of the automatic driving equipment. For example, in an automatic warehouse, when an unmanned forklift judges that the tray is to be transported, the method can be used for determining the attitude angle and the relative displacement of the tray, and further rotating and translating with corresponding amplitudes can align to the central axis of the tray, so that the tray can be accurately transported.

Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.

Drawings

The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:

FIG. 1 is a schematic diagram of an application scenario of a method for determining a target pose according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the main steps of a method for determining the attitude of a target according to a first embodiment of the present invention;

FIG. 3 is a schematic diagram of the main steps of a method for determining a target pose according to a second embodiment of the present invention;

FIG. 4 is a schematic diagram of the main steps of a method for determining a target pose according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of components of a system for determining a target pose in accordance with an embodiment of the present invention;

FIG. 6 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;

fig. 7 is a schematic structural diagram of an electronic device for implementing the method for determining the target posture in the embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In the field of automatic driving and the like, scanning measurement devices such as laser radars, millimeter wave radars and the like are generally adopted to detect targets in a scanning plane. The scanning measurement device is a device which takes laser, microwave and the like as detection media and acquires target information in a scanning mode. For convenience of explanation, the following description generally takes a single line laser radar and its working scenario as an example. When the single-line laser radar works, a one-dimensional rotating laser beam is emitted, the moving laser beam forms a sector scanning surface (generally a plane), the laser beam is reflected after contacting any object in the scanning surface, the reflected laser is captured by a receiving window, and information such as the distance, the angle and the like of the object can be obtained by comparing the emitted laser information with the received laser information. In one scanning period, the laser radar can scan the objects in the scanning plane one by one along the scanning direction. It can be understood that the distance is a distance between the target and a positioning point of the scanning and measuring device, and the positioning point of the scanning and measuring device can be a laser beam emitting point generally; the above-mentioned angle is a scanning angle, i.e., an angle from a scanning reference direction to a direction of a laser beam scanned to a target, the scanning reference direction is generally an actual arrangement direction of the scanning measuring device, and the scanning angle is zero degrees.

It should be noted that the terms "distance to target", "distance to target surface", "distance to measurement point" or similar expressions appearing hereinafter generally refer to the distance to the location of the scanning and measuring device, unless otherwise specified or clearly defined in context; the "angle of the target", "angle of the measuring point" or approximate expressions appearing hereinafter generally refer to the above-mentioned scanning angle, except where specific explanations or context has an exact meaning.

For any scanning measuring device, the number of measuring points can be determined according to the angular resolution. It is understood that a measurement point refers to a point within the scan plane where information about distance, angle, etc. is known. In practical application, the measuring point is often located at the intersection line of the scanning surface and the surface of the scanned object. For example, the angular resolution of a lidar is 0.25 °, which means that the angle between adjacent measurement points is 0.25 °, and the number of measurement points is 481 when the scanning angle is from 30 ° to 150 °. In a specific scenario, the scanning angle range may be determined according to factors such as the distance between the scanning measurement device and the target to be detected.

In the prior art, a scanning measuring device can be used for measuring the postures of the continuous target surface; for a discontinuous target surface, the measurement is not good. The discontinuous target surface can be composed of a plurality of continuous areas, each continuous area has no discontinuous points, and a gap area is arranged between adjacent continuous areas. In a specific application, the continuous region is determined relative to the scanning surface, and if the intersection line of a certain continuous region and the scanning surface is discontinuous, the certain continuous region cannot be regarded as a continuous region.

For example, in a pallet for carrying stored goods in a warehouse, a plurality of parallel legs are generally arranged at a position close to the ground, the surface of the pallet where the end faces of the legs (which are perpendicular to the extending direction of the legs, and the extending direction of the legs is the direction of the long sides of the parallel legs) are located is a discontinuous surface, the end faces of the legs are continuous areas in the surface of the pallet, and the adjacent end faces of the legs are separated by a gap area. The specific form of the surface of the tray may be as shown in fig. 1. In fig. 1, three legs are represented by higher gray scale values, and in the surface of the tray facing the scanning measuring device, the end faces of three legs (i.e. the planar areas of points a, M and B) are continuous areas, and the adjacent end faces of the legs are separated by a gap area.

In fig. 1, P is a laser beam emission point of the scanning measuring device, PF is a scanning reference direction, A, B are edge measurement points at two ends of the tray surface, PA and PB are straight lines where the corresponding laser beams are located, respectively, and the scanning direction is from PB to PA. The included angle from PF to PA and the included angle from PF to PB are respectively A, B scan angles, PD and PM are also straight lines where the laser beams are located, D is the projection of P on AB, M is the midpoint of AB (which can be used as the positioning point of the tray surface), P, A, B, D, M is co-located on the scan plane, and AB is the intersection line of the scan plane and the tray surface. In a specific application, the direction of the AB may be referred to as a tray surface extending direction, and when the tray is in a standard shape, the direction generally coincides with a long side direction of the tray surface, and the length of the AB is generally the same as the long side, and may be used as the tray surface length.

The two ends of the tray surface refer to one end of the tray surface which is scanned firstly and one end of the tray surface which is scanned last in one scanning period, and the edge measurement points refer to the first measurement point (one end point of the tray surface on the scanning surface) and the last measurement point (the other end point of the tray surface on the scanning surface) of the tray surface in one scanning period. In fig. 1, B is the first measurement point of the scanning cycle, and a is the last measurement point of the scanning cycle.

Further, the attitude herein refers to an orientation state of a target or a target surface in space, which can be expressed in azimuth, pitch, roll corresponding to three-dimensional space coordinate axes. Since the scanning plane in an actual scene is generally a horizontal plane, the pitch angle and the roll angle of the target surface are not concerned, and in this case, the attitude angle of the target surface refers to the azimuth angle thereof, which can be represented by the angle from the scanning reference direction to the extending direction of the target surface. For example, in FIG. 1, the attitude angle of the tray surface is the angle from PF to AB. It can be seen that after the attitude angle is determined, the scanning measuring device and its carrier (such as an unmanned forklift, various automated guided vehicles AGV, etc.) can be rotated by a corresponding angle so that the scanning reference direction is parallel to the surface of the pallet. The attitude angle may be a directed angle from the scanning reference direction to the extending direction of the target surface, and may take a positive value in the counterclockwise direction and a negative value in the clockwise direction, and the attitude angle of the tray surface in fig. 1 may take a positive value.

In addition to attitude information of the target surface, it is often necessary to know the position information of the target surface in a specific application, and in practice, the relative position of the target surface location point and the scanning measurement device can be used for description. In general, the relative position may be represented by a displacement of the scanning measuring device positioning point and the target surface positioning point in the extending direction of the target surface (i.e. a projection of the displacement from the scanning measuring device positioning point to the target surface positioning point in the extending direction of the target surface), where the displacement may be a directed distance, and when facing the target surface, the displacement direction is a right direction, which takes a positive value, and vice versa.

For example, in fig. 1, the displacement DM is a displacement between the positioning point P of the scanning measuring device and the positioning point M of the tray surface in the extending direction AB of the tray surface, and is a positive value. It can be seen that after the scanning measuring device and the carrier thereof are rotated according to the attitude angle of the tray surface to make the scanning reference direction parallel to the tray surface, the scanning measuring device and the carrier thereof are translated according to the displacement to make P aligned with M (i.e. the PM line is perpendicular to the parallel direction while the parallelism is achieved). When the carrier is an unmanned forklift and the scanning and measuring device is installed in the center of the head of the forklift, the unmanned forklift is controlled to advance for a certain distance, so that the cargo fork parts can enter from two gap areas on the surface of the tray, and the tray can be lifted. It will be appreciated that the translation distance may be adjusted to achieve a similar effect when the scanning measuring device is not mounted centrally on the head.

The following describes a specific technical solution of the present invention, i.e., how to determine the attitude angle of the target surface and the above-described displacement. It should be noted that the embodiments of the present invention and the technical features of the embodiments may be combined with each other without conflict.

Fig. 2 is a schematic diagram of the main steps of the method for determining the target pose according to the first embodiment of the present invention.

As shown in fig. 2, the method for determining the target pose in the first embodiment of the present invention may specifically be performed according to the following steps:

step S201: using a scanning measuring device to obtain distance information and angle information of a measuring point in a scanning plane; wherein the measurement points comprise measurement points of a target surface; the target surface includes a plurality of contiguous regions, adjacent contiguous regions being separated by a void region.

In practice, the measurement points obtained by using the scanning measurement device may be the measurement points arranged in the scanning order in one scanning period, which may include the measurement points of the target surface and the measurement points of the surfaces of other objects in the scanning plane, and the following method will be provided to distinguish the measurement points from the measurement points to realize the detection of the target surface. Further, for each measurement point within the scan plane, distance (i.e., distance from the laser beam emission point) information and angle (i.e., scan angle) information thereof may be acquired for subsequent calculation.

Step S202: determining a plurality of groups of measuring points from the obtained measuring points; wherein each group of measuring points are positioned on the same scanned surface; and matching the number of the multiple groups of measuring points with the number range of the measuring points of the continuous area on the scanning surface, which is determined in advance, to obtain two measuring points positioned at two ends of the target surface.

In this embodiment, after obtaining the scan data of one scan cycle, the useless data therein, such as a plurality of data representing performance indexes of the scanning measurement device, may be filtered first, and the format of the filtered data is converted, such as converting the initial hexadecimal data into the decimal data, so as to obtain the distance information and the angle information of each measurement point that are arranged consecutively according to the scan order.

In this step, the scanned surface refers to a target surface or other object surface scanned by the laser beam. Since the target surface to be detected is generally a plane, the measurement points can be grouped according to whether the scanned surface where the measurement points are located is a plane (i.e. whether the measurement points have plane features). Preferably, the distance difference between any measuring point and the adjacent measuring point can be obtained, and the measuring point of which the distance difference is not more than a preset distance threshold value is taken as a primary selection measuring point; and when the number of the primary measurement points which are continuously arranged is larger than a preset number threshold, determining the primary measurement points as a group of measurement points. The adjacent measuring points can be uniformly determined as the previous measuring point or the next measuring point, and the distance difference value is the absolute value of the difference between the distances of the two measuring points.

In the actual scenario of probing the surface of the tray shown in fig. 1, the distance threshold may be set to 20mm, and the number threshold may be set to 2, that is, if there are more than two measurement points with planar features, the measurement points are set as a group of measurement points, among the measurement points arranged in the scanning order in one scanning cycle.

Then, it is determined which of the plurality of sets of measurement points are the measurement points of the target surface by using the statistical characteristics of the plurality of sets of measurement points determined by the above method, and then two measurement points located at two ends of the target surface are determined to detect the attitude of the target surface. The statistical characteristics may be the number of each group of measurement points, the two measurement points are obviously located in the continuous regions at the two ends of the target surface, the two measurement points are preferably edge measurement points at the two ends of the target surface, and a point may be taken in the neighborhood of the two edge measurement points (i.e., the preset range with the edge measurement point as the center).

In this embodiment, the number of the plurality of sets of measurement points may be matched with the range of the number of measurement points of the continuous region of the target surface on the scan plane, so as to extract the measurement points of the target surface. The number range of the measuring points is determined in advance according to the working position (including the preset distance range and deviation angle range between the scanning measuring device and the target surface) where the scanning measuring device is to be located and the width of the continuous area on the scanning surface. Similarly, a range of the number of measurement points may be set in advance for a gap region between adjacent continuous regions of the target surface. For example, the measurement point number range of three continuous regions (i.e., in the order of the continuous region in which B is present-the continuous region in which M is present-the continuous region in which a is present) arranged continuously in the scanning order (which is determined by the scanning direction) may be set to [3, 6], [4, 6], [3, 7] (in the case where the three continuous regions are not equal in width); the measuring point number range of the continuous regions and the corresponding gap regions (namely, the measuring point number range of the continuous regions in the sequence of B, the continuous region in the first gap region, the continuous region in the M, and the continuous region in the second gap region, the continuous region in the A) which are continuously arranged according to the scanning sequence is set as [3, 6], [14, 20], [4, 6], [15, 19], [3, 7] (for the case that the widths of the two gap regions on the scanning surface are not equal).

In this step, two matching methods can be provided. Specifically, the first method is: any k (k is the total number of the continuous areas) groups of measuring points which are continuously arranged according to the scanning sequence correspond to all the continuous areas which are continuously arranged according to the scanning sequence one by one; and if the number of the measuring points of each group (in the k groups) is in the measuring point number range of the corresponding continuous area of the group, determining the measuring points of each group as the measuring points of the corresponding continuous area of the group. Wherein, between two adjacent groups of measurement points arranged in series, there is no measurement point of the other group.

For example, in the example shown in fig. 1, if all three continuous regions arranged continuously in the scanning order are the continuous region in which B is located, the continuous region in which M is located, and the continuous region in which a is located, the number ranges of the measurement points of the three are set to [3, 6], [4, 6], [3, 7], and all the measurement points arranged continuously in the scanning order are grouped into the array 1, the array 2, the array 3, the array 4, and the array 5, and the number of the measurement points of the five arrays is 2, 5, 8, respectively, then three continuously arranged arrays (i.e., the array 1, the array 2, the array 3, or the array 4, or the array 3, the array 4, and the array 5) can be selected from the five arrays and correspond to the three continuous regions one by one.

Taking the selection as array 1, array 2 and array 3 as an example, the one-to-one correspondence refers to that array 1 corresponds to the continuous area where B is located, array 2 corresponds to the continuous area where M is located, and array 3 corresponds to the continuous area where a is located. At this time, whether the number of the measuring points in the array is in accordance with the corresponding number range is judged. After an attempt, only when the measurement points are selected as the array 2, the array 3 and the array 4, the number of the measurement points is 5, 5 and 5 respectively, and the measurement points are in the corresponding number range, so that the measurement points in the array 2 can be used as the measurement points of the continuous area where the B is located, the measurement points in the array 3 can be used as the measurement points of the continuous area where the M is located, and the measurement points in the array 4 can be used as the measurement points of the continuous area where the A is located, thereby realizing the complete detection of the surface of the tray.

In the second way, the measurement points located between two adjacent sets of measurement points may be first taken as a set. For example, adding the respective sets between the five arrays in the above example may form the following arrangement of measurement points: array 1, set 1, array 2, set 2, array 3, set 3, array 4, set 4, array 5, the corresponding quantity point quantity distribution is: 2. 59, 5, 17, 5, 78, 8. Then, similarly, there are the following three paths for selecting three arrays arranged in series and corresponding sets from them: array 1, set 1, array 2, set 2, array 3, or array 2, set 2, array 3, set 3, array 4, or array 3, set 3, array 4, set 4, array 5.

Then, each path is in one-to-one correspondence with the continuous regions and the corresponding gap regions (i.e., the continuous region where B is located, the first gap region, the continuous region where M is located, the second gap region, and the continuous region where a is located) which are continuously arranged in the scanning order, according to a strategy similar to that in the first manner, and it is determined whether the number of measurement points of the array is within the number range of the corresponding continuous region and whether the number of measurement points of the set is within the number range of the corresponding gap region. After an attempt, when the paths are array 2, set 2, array 3, set 3, and array 4, the number of each measurement point is in the corresponding number range, at this time, the measurement point in array 2 may be used as the measurement point of the continuous area where B is located, the measurement point in array 3 may be used as the measurement point of the continuous area where M is located, and the measurement point in array 4 may be used as the measurement point of the continuous area where a is located. Obviously, the second method has a higher recognition accuracy because the matching conditions are more strict.

In this way, the measurement points for each successive area of the target surface can be obtained in any of the ways described above. Two measurement points at both ends of the target surface can be selected for subsequent calculations. As mentioned above, the two measurement points are obviously located in the continuous region at the two ends of the target surface, and both are preferably edge measurement points at the two ends of the target surface, or a point may be taken in the neighborhood of each of the two edge measurement points.

Step S203: and determining the attitude angle of the target surface according to the obtained distance information and angle information of the two measuring points.

In this step, the attitude angle of the target surface and the displacement of the positioning point of the scanning measuring device and the positioning point of the target surface in the extending direction of the target surface can be calculated by using a plane geometry correlation method. When the two measuring points are edge measuring points at two ends of the target surface, the calculation formula is as follows:

or

Wherein γ is the attitude angle, x is the displacement, l ₁ Alpha is the distance and the scanning angle of the first measuring point, l ₂ Beta is the distance and the scanning angle of the second measuring point respectively, and L is the target surface length. In addition, the target surface locating point is the middle point of the intersecting line of the target surface and the scanning surface, the measuring point scanned earlier in the two measuring points is the first measuring point, and the measuring point scanned later is the second measuring point.

The application scenario of the above calculation formula can be seen in fig. 1. Wherein gamma is an included angle from PF to AB, x is displacement of DM, M is a positioning point of the surface of the tray, B is a first measuring point, A is a second measuring point, l ₁ Is the length of PB, l ₂ Is the length of PA and L is the length of the tray surface. Since the derivation process of the above formula is easy, it is not described again.

When the two measurement points are measurement points in the neighborhood of the edge measurement point, the calculation formula of the attitude angle and the displacement is similar to the formula. For example, if the two measurement points are central measurement points in each measurement point in the continuous region at the two ends of the target surface, the calculation can be performed by changing L in the formula to the distance between the two central measurement points and substituting the distance into the formula.

Through the steps, the invention can realize the complete detection of the target surface, further sense the attitude angle and the relative displacement of the target surface and provide support for subsequent actions.

The specific steps of the unmanned forklift for carrying the pallet by using the method of the embodiment will be described. The single-line laser radar is installed in the center of the head of the unmanned forklift, the widths of three supporting legs of the tray are the same, the widths of two corresponding gap areas are the same, the measuring point number range of three continuous areas (namely the end faces of the supporting legs) on the surface of the tray is predetermined as a first range, and the measuring point number range of the two gap areas is predetermined as a second range. The method comprises the following steps:

1. a scanning angle range is set for the scanning angle of the laser radar, and the end face of each supporting leg can be scanned in the working position of the unmanned forklift. And obtaining the number of measuring points in one scanning period according to the angular resolution of the laser radar.

2. And the unmanned forklift enters a working position to start scanning. The system filters and converts the format of the data obtained in one scanning period to obtain the distance and angle information of each measuring point.

3. Comparing the distance difference between each measuring point and the adjacent measuring points one by one, determining the continuous measuring points with the distance difference within 20mm and the number more than two as a group of measuring points, and counting the number of the measuring points in each group and the number of the measuring points in each group.

4. Matching the number and the number range of the measuring points: and selecting three groups of continuous measuring points and corresponding inter-group measuring points according to the scanning sequence, and if the number of the measuring points is in a first range, a second range, a first range, a second range and a first range in sequence, taking the three groups of measuring points as the measuring points of three continuous areas in sequence.

5. And selecting the first scanned measuring point in the first group of measuring points as a first measuring point, selecting the last scanned measuring point in the third group of measuring points as a second measuring point, and calculating the attitude angle and the relative displacement of the tray by using the formula.

6. And sending the calculated data to a motion controller of the unmanned forklift, and controlling the unmanned forklift to rotate by a corresponding angle and move transversely by a corresponding distance to reach the position of the central axis of the tray by the motion controller. After that, the unmanned forklift moves forwards for a certain distance to enable the fork parts to penetrate through the gap area on the surface of the tray, and the tray can be lifted by lifting upwards.

The above specific steps can realize tray transportation in various work scenarios. But it is when being used for unmanned fork truck to reach preset operating position after fine setting effect is better.

In the technical solution of this embodiment, a plurality of groups of measurement points on the same scanned surface may be detected first, and then the number of measurement points in each group is matched with the predetermined range of the number of measurement points in the continuous region of the target surface, so that the measurement points in each continuous region may be determined, thereby implementing the overall detection of the target surface. Then, edge measurement points can be extracted from the determined measurement points to calculate the attitude angle of the target surface and the relative displacement between the target surface and the scanning measurement device, so that the accurate perception of the attitude and the direction of the target is realized, and support is provided for subsequent actions.

Fig. 3 is a schematic diagram of the main steps of a method for determining the target pose according to a second embodiment of the present invention.

As shown in fig. 3, the method for determining the target pose in the embodiment of the present invention may be specifically executed according to the following steps:

step S301: using a scanning measuring device to obtain distance information and angle information of a measuring point in a scanning plane; wherein the measurement points comprise measurement points of a target surface; the target surface includes a plurality of contiguous regions, adjacent contiguous regions being separated by a void region.

In practical applications, the measurement points obtained by using the scanning measurement device may be measurement points arranged in a scanning order in a scanning cycle, and may include a measurement point on the target surface and a measurement point on the surface of another object in the scanning plane, and the following steps will provide a method for distinguishing the measurement points from the measurement points to realize the detection of the target surface. In addition, for each measurement point in the scanning plane, the distance information and the angle information can be obtained for subsequent calculation.

In an alternative implementation, before detecting the target surface, a high-reflection surface (i.e. a surface with a reflectivity higher than a certain threshold) may be further provided for each continuous area of the target surface, for example, each continuous area is covered with a high-reflection sticker. When the distance information and the angle information of the measuring point are obtained, reflection data of the measuring point in the scanning plane (at this time, the scanning measuring device needs to have a reflection identification function), such as received Signal Strength indication rssi (received Signal Strength indication) or reflectivity, etc., are obtained, and in the subsequent steps, the target surface can be distinguished from the surfaces of other objects according to the reflection data. It is understood that in a specific application, the above distinction may also be implemented by using other characteristics of the measurement point, and the obtaining of the reflection data of the measurement point is only an optional step in the technical solution of the embodiment.

Step S302: filtering the obtained measuring points, and determining a plurality of groups of measuring points from the rest measuring points; wherein each group of measuring points are positioned on the same scanned surface; two measurement points located at both ends of the target surface are determined among the plurality of sets of measurement points.

In this embodiment, after obtaining the scan data of one scan cycle, the useless data, such as a plurality of data representing performance indexes of the scanning measurement device, may be removed first, and the format of the processed data is converted, such as converting the initial hexadecimal data into decimal data, so as to obtain the distance information and angle information of each measurement point arranged continuously according to the scan order.

After removing the useless data, it is also possible, as a preferred option, to remove from the measuring points whose reflection data do not meet the preset filtering conditions, for example measuring points whose reflectivity is not greater than a preset value (these measuring points are obviously not measuring points of a continuous area of the target surface). It is to be understood that the above-mentioned filtering condition may be specifically set according to the application environment, and is not limited to the above-mentioned condition based on the reflectance filtering.

In this step, the scanned surface refers to a target surface or other object surface scanned by the laser beam. Since the target surface to be detected is generally a plane, the remaining measuring points can be grouped according to whether the scanned surface where the measuring points are located is a plane (i.e. whether the measuring points have plane features). Preferably, the distance difference between any measuring point and the adjacent measuring point can be obtained, and the measuring point of which the distance difference is not more than a preset distance threshold value is taken as a primary selection measuring point; and when the number of the primary measurement points which are continuously arranged is larger than a preset number threshold, determining the primary measurement points as a group of measurement points. The adjacent measuring points can be uniformly determined as the previous measuring point or the next measuring point, and the distance difference value is the absolute value of the difference between the distances of the two measuring points.

In the actual scenario of probing the surface of the tray shown in fig. 1, the distance threshold may be set to 20mm, and the number threshold may be set to 2, i.e. if there are more than two measuring points with planar features, the remaining measuring points (filtered) arranged in the scanning order in one scanning cycle are regarded as a group of measuring points. It will be appreciated that in practice, a plurality of sets of measurement points may be determined, and then filtered using the reflection data, and the result obtained is similar to the method described above.

In this embodiment, the number of groupings obtained by the grouping process described above is generally equal to the total number of target continuous regions, since the measurement points for the target continuous region have been screened through the filter ring before grouping the measurement points. At this time, a plurality of groups of measurement points arranged according to the scanning order may be in one-to-one correspondence with all the continuous regions arranged according to the scanning order, and each group of measurement points may be determined as the measurement point of the corresponding continuous region of the group.

For example, in the example shown in fig. 1, if all three continuous regions arranged according to the scanning order are the continuous region in which B is located, the continuous region in which M is located, and the continuous region in which a is located, the groups arranged according to the scanning order obtained through the grouping process are sequentially array 1, array 2, and array 3, and the one-to-one correspondence between the arrays and the continuous regions is as follows: the continuous area where the array 1 is located corresponds to the continuous area where the array B is located, the continuous area where the array 2 is located corresponds to the continuous area where the array M is located, and the continuous area where the array 3 is located corresponds to the continuous area where the array A is located. At this time, it can be determined that the measurement point in the array 1 is the measurement point of the continuous area where B is located, the measurement point in the array 2 is the measurement point of the continuous area where M is located, and the measurement point in the array 3 is the measurement point of the continuous area where a is located.

Through the steps, the measuring points of each continuous area of the target surface can be obtained. At this point, two measurement points at both ends of the target surface can be determined for subsequent calculations. As mentioned above, the two measurement points are obviously located in two continuous regions at two ends of the target surface, and both are preferably edge measurement points at two ends of the target surface, or a point may be taken in the neighborhood of each of the two edge measurement points.

Step S303: and determining the attitude angle of the target surface according to the determined distance information and angle information of the two measuring points.

In this step, the attitude angle of the target surface and the displacement of the positioning point of the scanning measuring device and the positioning point of the target surface in the extending direction of the target surface can be calculated by using a plane geometry correlation method. When the two measurement points are edge measurement points at two ends of the target surface, the calculation formula is as follows:

or

The application scenario of the above calculation formula can be referred toSee fig. 1. Wherein gamma is an included angle from PF to AB, x is displacement of DM, M is a positioning point of the surface of the tray, B is a first measuring point, A is a second measuring point, l ₁ Is the length of PB, l ₂ Is the PA length and L is the tray surface length. Since the derivation process of the above formula is easy, it is not described again.

The specific steps of the unmanned forklift for carrying the pallet by using the method of the embodiment will be described. Wherein, unmanned fork truck locomotive portion central authorities install the single line laser radar who has discernment reflection function, set up high plane of reflection for the three landing leg terminal surfaces of tray in advance. The method comprises the following specific steps:

2. And the unmanned forklift enters a working position to start scanning. The system filters and converts the format of the data obtained in one scanning period to obtain the distance, angle and reflectivity information of each measuring point.

3. And removing the measuring points with the reflectivity not greater than the preset value.

4. And comparing the distance difference between each measuring point and the adjacent measuring points in the rest measuring points one by one, and determining the continuous measuring points with the distance difference within 20mm and the number more than two as a group of measuring points to obtain three groups of measuring points.

5. And the three groups of measuring points correspond to the end surfaces of the three support legs one by one according to the scanning sequence to obtain the measuring point of each end surface of the support leg.

6. And selecting the first scanned measuring point in the first group of measuring points as a first measuring point, selecting the last scanned measuring point in the third group of measuring points as a second measuring point, and calculating the attitude angle and the relative displacement of the tray by using the formula.

7. And sending the calculated data to a motion controller of the unmanned forklift, and controlling the unmanned forklift to rotate by a corresponding angle and move transversely by a corresponding distance to reach the position of the central axis of the tray by the motion controller. After that, the unmanned forklift moves forwards for a certain distance to enable the fork parts to penetrate through the gap area on the surface of the tray, and the tray can be lifted by lifting upwards.

In the technical scheme of this embodiment, high reflection surfaces are set for continuous areas of a target surface in advance, reflection data of measurement points are obtained in a detection process, then the measurement points with reflection data meeting a filtering condition are screened out, and measurement points corresponding to each continuous area are obtained by detecting the distance difference between each measurement point and the adjacent measurement points and the number of the continuous measurement points, so that the overall detection of the target surface is realized. Then, edge measurement points can be extracted from the determined measurement points to calculate the attitude angle of the target surface and the relative displacement between the target surface and the scanning measurement device, so that the accurate perception of the attitude and the direction of the target is realized, and support is provided for subsequent actions.

Fig. 4 is a schematic diagram of the main steps of the method for determining the target pose according to the embodiment of the present invention, which can cover the main steps of the first embodiment and the second embodiment of the present invention. As shown in fig. 4, the method for determining the target pose in the embodiment of the present invention may perform the following steps:

step S401: using a scanning measuring device to obtain distance information and angle information of a measuring point in a scanning plane; wherein the measurement points comprise measurement points of a target surface; the target surface comprises a plurality of contiguous regions, adjacent contiguous regions being separated by a void region; step S402: determining a plurality of groups of measuring points from the obtained measuring points; wherein each group of measuring points are positioned on the same scanned surface; determining two measuring points positioned at two ends of the target surface in the plurality of groups of measuring points; step S403: and determining the attitude angle of the target surface according to the determined distance information and angle information of the two measuring points. Since the details of the above steps have been described in detail in the first and second embodiments, they are not repeated here.

It is to be understood that the present invention is described by way of example in the context of an automated warehouse in which trays are handled by an unmanned forklift, but the present invention is not limited to the context and scope of use. In fact, the present invention can be used in any situation where a scanning measuring device is relied upon to probe a target surface. In addition, the scanning measuring device can adopt a single line laser radar, a multi-line laser radar (any laser beam of the laser can be used for realizing the method of the invention), a suitable microwave radar and any other measuring equipment for detecting the target attitude and position.

It should be noted that, for the convenience of description, the foregoing method embodiments are described as a series of acts, but those skilled in the art will appreciate that the present invention is not limited by the order of acts described, and that some steps may in fact be performed in other orders or concurrently. Moreover, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no acts or modules are necessarily required to implement the invention.

To facilitate a better implementation of the above-described aspects of embodiments of the present invention, the following also provides related systems for implementing the above-described aspects.

Referring to fig. 5, a system 500 for determining a target posture according to an embodiment of the present invention may include: a scanning measurement device 501, a measurement point determination unit 502, and an attitude detection unit 503.

The scanning measurement device 501 may be configured to obtain distance information and angle information of a measurement point in a scanning plane; wherein the measurement points comprise measurement points of a target surface; the target surface includes a plurality of contiguous regions, adjacent contiguous regions being separated by a void region.

The measurement point determination unit 502 may be configured to determine a plurality of sets of measurement points from the acquired measurement points; wherein each group of measuring points are positioned on the same scanned surface; two measurement points located at both ends of the target surface are determined among the plurality of sets of measurement points.

The attitude detection unit 503 may be configured to determine an attitude angle of the target surface from the determined distance information and angle information of the two measurement points.

In the embodiment of the present invention, the obtained measurement points are measurement points arranged according to a scanning sequence in one scanning period, and the scanned surface is a plane; and, the measurement point determination unit 502 may be further configured to: acquiring a distance difference value between any measuring point and an adjacent measuring point, and taking the measuring point of which the distance difference value is not more than a distance threshold value as a primary selection measuring point; and when the number of the initially selected measuring points which are continuously arranged is larger than the number threshold value, determining the initially selected measuring points as a group of measuring points.

As a preferred solution, the measurement point determining unit 502 may be further configured to: and matching the number of the multiple groups of measuring points with a predetermined measuring point number range of the continuous area on the scanning surface to obtain two measuring points positioned at two ends of the target surface.

Preferably, in the embodiment of the present invention, the measurement point determining unit 502 is further configured to: any k groups of measurement points which are continuously arranged according to the scanning sequence correspond to all continuous areas which are continuously arranged according to the scanning sequence one by one; wherein k is the total number of the continuous areas; when the number of the measuring points of each group in the k groups is within the measuring point number range of the continuous area corresponding to the group, determining the measuring points of each group in the k groups as the measuring points of the continuous area corresponding to the group; edge measurement points of two continuous areas located at both ends of the target surface are determined as the two measurement points.

In a specific application, the measurement point determining unit 502 may be further configured to: taking the measuring points positioned between two adjacent groups of measuring points in the obtained measuring points as a set; any k groups of measurement points and corresponding sets which are continuously arranged according to a scanning sequence correspond to continuous areas and corresponding gap areas which are continuously arranged according to the scanning sequence one by one; wherein k is the total number of the continuous areas; when the number of the measuring points of each group in the k groups is within the measuring point number range of the continuous region corresponding to the group, and the number of the measuring points of each set is within the measuring point number range of the gap region corresponding to the set, which is determined in advance: determining the measuring points of each group in the k groups as the measuring points of the corresponding continuous area of the group; edge measurement points of two continuous areas located at both ends of the target surface are determined as the two measurement points.

In practical application, the scanned surface is a plane; the obtained measuring points are arranged according to a scanning sequence in a scanning period; and the system may further include a reflection data acquisition unit for setting a highly reflective surface for each continuous region of the target surface before acquiring distance information and angle information of the measurement point in the scanning plane; when the distance information and the angle information of the measuring point in the scanning plane are obtained, the reflection data of the measuring point in the scanning plane are further obtained.

In an alternative implementation, the measurement point determining unit 502 may be further configured to: removing the measuring points of which the reflection data do not accord with the preset filtering condition from the obtained measuring points; obtaining the distance difference value between any measuring point and the adjacent measuring point in the rest measuring points, and taking the measuring point of which the distance difference value is not more than the distance threshold value as a primary selection measuring point; and when the number of the initially selected measuring points which are continuously arranged is larger than the number threshold value, determining the initially selected measuring points as a group of measuring points.

In one embodiment, the measurement point determination unit 502 may be further configured to: the multiple groups of measuring points arranged according to the scanning sequence correspond to all continuous areas arranged according to the scanning sequence one by one, and the measuring points of each group are determined as the measuring points of the corresponding continuous areas of the group; determining edge measurement points of two continuous areas positioned at two ends of the target surface as the two measurement points; and the reflection data is reflectivity data, and the filtering condition is as follows: the reflectivity is greater than a predetermined value.

In a specific application scene, the attitude angle of the target surface is an included angle from a scanning reference direction to the extension direction of the target surface; the scanning measurement device includes: a single line laser radar, a multi-line laser radar, or a millimeter wave radar; the gesture detection unit 503 may be further configured to: and determining the displacement of the positioning point of the scanning measuring device and the positioning point of the target surface in the extension direction of the target surface by using the attitude angle of the target surface.

In addition, in the embodiment of the present invention, the target is a tray provided with a plurality of parallel support legs, the target surface is a tray surface perpendicular to an extending direction of the support legs, the continuous region is a support leg end face, the angle information is scanning angle information, and a positioning point of the tray surface is a midpoint of an intersection line of the tray surface and the scanning surface; the measurement point scanned earlier in the two measurement points is a first measurement point, and the measurement point scanned later is a second measurement point; and, the gesture detection unit 503 may be further configured to: determining the attitude angle gamma of the surface of the tray and the displacement x of the positioning point of the scanning measuring device and the positioning point of the surface of the tray in the extension direction of the surface of the tray according to the following formula:

or

In the technical scheme of the embodiment of the invention, the measurement points of each continuous area of the target surface can be determined by using the number statistical characteristics or the reflection characteristics of a plurality of groups of measurement points on the same scanned surface, so as to realize the overall detection of the target surface. Then, edge measurement points can be extracted from the determined measurement points to calculate the attitude angle of the target surface and the relative displacement between the target surface and the scanning measurement device, so that the accurate perception of the attitude and the direction of the target is realized, and support is provided for subsequent actions.

FIG. 6 illustrates an exemplary system architecture 600 in which the method of determining a target pose of embodiments of the present invention may be applied.

As shown in fig. 6, the system architecture 600 may include

terminal devices

601, 602, 603, a network 604 and a server 605 (this architecture is merely an example, and the components included in a specific architecture may be adjusted according to the specific application). The network 604 serves to provide a medium for communication links between the

terminal devices

601, 602, 603 and the server 605. Network 604 may include various types of connections, such as wire, wireless communication links, or fiber optic cables, to name a few.

A user may use the

terminal devices

601, 602, 603 to interact with the server 605 via the network 604 to receive or send messages or the like. The

terminal devices

601, 602, 603 may have installed thereon various communication client applications, such as an automatic driving application, a web browser application, a search application, an instant messaging tool, a mailbox client, social platform software, etc. (by way of example only).

The

terminal devices

601, 602, 603 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.

Server 605 may be a server that provides various services, such as a gesture detection server (for example only) that provides support for an autopilot-like application operated by a user with

terminal devices

601, 602, 603. The gesture detection server may process the received gesture detection request, etc., and feed back the processing result (e.g., gesture angle, relative displacement-just an example) to the terminal device.

It should be noted that the method for determining the target pose provided by the embodiment of the present invention is generally executed by the server 605.

It should be understood that the number of terminal devices, networks, and servers in fig. 6 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.

The invention also provides the electronic equipment. The electronic device of the embodiment of the invention comprises: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method of determining a target pose provided by the present invention.

Referring now to FIG. 7, shown is a block diagram of a computer system 700 suitable for use with the electronic device implementing an embodiment of the present invention. The electronic device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.

As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU)701, which can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM703, various programs and data necessary for the operation of the computer system 700 are also stored. The CPU701, the ROM 702, and the RAM703 are connected to each other via a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.

The following components are connected to the I/O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.

In particular, the processes described in the main step diagrams above may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the invention include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the main step diagram. In the above-described embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711. The computer program, when executed by the central processing unit 701, performs the above-described functions defined in the system of the present invention.

It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present invention may be implemented by software or hardware. The described units may also be provided in a processor, and may be described as: a processor includes a measurement point determination unit and an attitude detection unit. Here, the names of these units do not constitute a limitation on the unit itself in some cases, and for example, the measurement point determination unit may also be described as a "unit that provides information of two measurement points located at both ends of the target surface to the posture detection unit".

As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carrying one or more programs which, when executed by the apparatus, cause the apparatus to perform steps comprising: using a scanning measuring device to obtain distance information and angle information of a measuring point in a scanning plane; wherein the measurement points comprise measurement points of a target surface; the target surface comprises a plurality of contiguous regions, adjacent contiguous regions being separated by a void region; determining a plurality of groups of measuring points from the obtained measuring points; wherein each group of measuring points are positioned on the same scanned surface; determining two measuring points positioned at two ends of the target surface in the plurality of groups of measuring points; and determining the attitude angle of the target surface according to the determined distance information and angle information of the two measuring points.

The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method of determining a pose of a target, comprising:

using a scanning measuring device to obtain distance information and angle information of a measuring point in a scanning plane; wherein the measurement points comprise measurement points of a target surface; the target surface comprises a plurality of contiguous regions, adjacent contiguous regions being separated by a void region;

determining a plurality of groups of measuring points from the obtained measuring points; each group of measuring points are positioned on the same scanned surface, the scanned surface is a plane, and the obtained measuring points are measuring points arranged according to a scanning sequence in a scanning period;

the determining multiple groups of measurement points from the obtained measurement points specifically includes: acquiring a distance difference value between any measuring point and an adjacent measuring point, and taking the measuring point of which the distance difference value is not more than a distance threshold value as a primary selection measuring point; when the number of the primary measurement points which are continuously arranged is larger than a number threshold, determining the primary measurement points as a group of measurement points;

matching the number of the multiple groups of measuring points with a predetermined measuring point number range of the continuous area on the scanning surface to obtain measuring points of the continuous area on the target surface;

alternatively, the first and second electrodes may be,

providing a highly reflective surface for each successive region of the target surface; using a scanning measuring device to obtain distance information, angle information and reflection data of a measuring point in a scanning plane; wherein the measurement points comprise measurement points of a target surface; the target surface comprises a plurality of contiguous areas, adjacent contiguous areas being separated by a void area;

removing the measuring points of which the reflection data do not accord with the preset filtering condition from the obtained measuring points;

determining a plurality of groups of measuring points from the rest measuring points as measuring points of the continuous area of the target surface; each group of measuring points are positioned on the same scanned surface, the scanned surface is a plane, and the obtained measuring points are measuring points arranged according to a scanning sequence in a scanning period;

the determining a plurality of sets of measurement points from the remaining measurement points comprises: obtaining the distance difference value between any measuring point and the adjacent measuring point in the rest measuring points, and taking the measuring point of which the distance difference value is not more than the distance threshold value as a primary selection measuring point; when the number of the primary measurement points which are continuously arranged is larger than a number threshold, determining the primary measurement points as a group of measurement points;

determining two measuring points positioned at two ends of the target surface from the measuring points of the continuous area of the target surface, and determining the attitude angle of the target surface according to the distance information and the angle information of the two determined measuring points.

2. The method according to claim 1, wherein matching the number of the plurality of sets of measurement points with a predetermined range of the number of measurement points of the continuous region on the scan plane to obtain two measurement points located at two ends of the target surface comprises:

any k groups of measurement points which are continuously arranged according to the scanning sequence correspond to all continuous areas which are continuously arranged according to the scanning sequence one by one; wherein k is the total number of the continuous areas;

when the number of the measuring points of each group in the k groups is within the range of the number of the measuring points of the continuous area corresponding to the group, determining the measuring points of each group in the k groups as the measuring points of the continuous area corresponding to the group; and

edge measurement points of two continuous areas located at both ends of the target surface are determined as the two measurement points.

3. The method of claim 1, further comprising: taking the measuring points positioned between two adjacent groups of measuring points in the obtained measuring points as a set; and matching the number of the multiple groups of measuring points with a predetermined measuring point number range of the continuous area on the scanning surface to obtain two measuring points at two ends of the target surface, specifically comprising:

any k groups of measurement points and corresponding sets which are continuously arranged according to a scanning sequence correspond to continuous regions and corresponding gap regions which are continuously arranged according to the scanning sequence one by one; wherein k is the total number of the continuous areas;

when the number of the measuring points of each group in the k groups is within the measuring point number range of the continuous region corresponding to the group, and the number of the measuring points of each set is within the measuring point number range of the gap region corresponding to the set, which is determined in advance: determining the measuring points of each group in the k groups as the measuring points of the corresponding continuous area of the group; and

4. The method of claim 1, wherein determining two measurement points located at opposite ends of the target surface comprises:

the multiple groups of measuring points arranged according to the scanning sequence correspond to all continuous areas arranged according to the scanning sequence one by one, and the measuring points of each group are determined as the measuring points of the corresponding continuous areas of the group;

determining edge measurement points of two continuous areas positioned at two ends of the target surface as the two measurement points; and

the reflection data is reflectivity data, and the filtering conditions are as follows: the reflectivity is greater than a predetermined value.

5. The method according to any one of claims 1 to 4,

the attitude angle of the target surface is an included angle from the scanning reference direction to the extending direction of the target surface;

the method further comprises: determining the displacement of the positioning point of the scanning measuring device and the positioning point of the target surface in the extension direction of the target surface by using the attitude angle of the target surface; and

the scanning measurement device includes: a single line lidar, a multiline lidar or a millimeter wave radar.

6. The method of claim 5, wherein the target is a pallet provided with a plurality of parallel legs, the target surface is a pallet surface perpendicular to the extending direction of the legs, the continuous region is a leg end face, the angle information is scanning angle information, and the pallet surface locating point is a middle point of an intersecting line of the pallet surface and the scanning plane; the measurement point scanned earlier in the two measurement points is a first measurement point, and the measurement point scanned later is a second measurement point; and determining the attitude angle gamma of the tray surface and the displacement x of the positioning point of the scanning measuring device and the positioning point of the tray surface in the extension direction of the tray surface according to the following formula:

or

7. A system for determining a pose of a target, comprising:

the scanning measuring device is used for acquiring distance information and angle information of a measuring point in a scanning plane; wherein the measurement points comprise measurement points of a target surface; the target surface comprises a plurality of contiguous regions, adjacent contiguous regions being separated by a void region;

alternatively, the first and second electrodes may be,

a reflection data acquisition unit for: setting a high-reflection surface for each continuous area of the target surface, and acquiring distance information, angle information and reflection data of measurement points in a scanning plane; wherein the measurement points comprise measurement points of a target surface; the target surface comprises a plurality of contiguous regions, adjacent contiguous regions being separated by a void region;

a measurement point determination unit for: determining a plurality of groups of measuring points from the obtained measuring points; each group of measuring points are positioned on the same scanned surface, and the scanned surface is a plane; matching the number of the multiple groups of measuring points with a predetermined measuring point number range of the continuous area on the scanning surface to obtain measuring points of the continuous area of the target surface; or removing the measuring points of which the reflection data do not accord with the preset filtering condition from the obtained measuring points; determining a plurality of groups of measuring points from the rest measuring points as measuring points of the continuous area of the target surface; determining two measuring points positioned at two ends of the target surface from the measuring points of the continuous area of the target surface; each group of measuring points are positioned on the same scanned surface, the scanned surface is a plane, and the obtained measuring points are measuring points arranged according to a scanning sequence in a scanning period;

the measurement point determination unit is further configured to: acquiring a distance difference value between any measuring point and an adjacent measuring point, and taking the measuring point of which the distance difference value is not more than a distance threshold value as a primary selection measuring point; when the number of the primary measurement points which are continuously arranged is larger than a number threshold, determining the primary measurement points as a group of measurement points;

and the attitude detection unit is used for determining the attitude angle of the target surface according to the determined distance information and angle information of the two measuring points.

8. The system of claim 7, wherein the measurement point determination unit is further configured to:

any k groups of measurement points which are continuously arranged according to the scanning sequence correspond to all continuous areas which are continuously arranged according to the scanning sequence one by one; wherein k is the total number of the continuous areas; when the number of the measuring points of each group in the k groups is within the range of the number of the measuring points of the continuous area corresponding to the group, determining the measuring points of each group in the k groups as the measuring points of the continuous area corresponding to the group; edge measurement points of two continuous areas located at both ends of the target surface are determined as the two measurement points.

9. The system of claim 7, wherein the measurement point determination unit is further configured to:

taking the measuring points positioned between two adjacent groups of measuring points in the obtained measuring points as a set;

any k groups of measurement points and corresponding sets which are continuously arranged according to a scanning sequence correspond to continuous regions and corresponding gap regions which are continuously arranged according to the scanning sequence one by one; wherein k is the total number of the continuous areas; when the number of the measuring points of each group in the k groups is within the measuring point number range of the continuous region corresponding to the group, and the number of the measuring points of each set is within the measuring point number range of the gap region corresponding to the set, which is determined in advance: determining the measuring points of each group in the k groups as the measuring points of the corresponding continuous area of the group; edge measurement points of two continuous areas located at both ends of the target surface are determined as the two measurement points.

10. The system of claim 7, wherein the measurement point determination unit is further configured to:

the multiple groups of measuring points arranged according to the scanning sequence correspond to all continuous areas arranged according to the scanning sequence one by one, and the measuring points of each group are determined as the measuring points of the corresponding continuous areas of the group; determining edge measurement points of two continuous areas positioned at two ends of the target surface as the two measurement points; and the reflection data is reflectivity data, and the filtering condition is as follows: the reflectivity is greater than a predetermined value.

11. The system according to any one of claims 7-10, wherein the attitude angle of the target surface is an angle from a scanning reference direction to a direction in which the target surface extends; the scanning measurement device includes: a single line laser radar, a multi-line laser radar or a millimeter wave radar; and

the attitude detection unit is further configured to: and determining the displacement of the positioning point of the scanning measuring device and the positioning point of the target surface in the extension direction of the target surface by using the attitude angle of the target surface.

12. The system of claim 11, wherein the target is a tray provided with a plurality of parallel legs, the target surface is a tray surface perpendicular to the extending direction of the legs, the continuous area is a leg end face, the angle information is scanning angle information, and the tray surface positioning point is a middle point of an intersection line of the tray surface and the scanning surface; the measurement point scanned earlier in the two measurement points is a first measurement point, and the measurement point scanned later is a second measurement point; and the attitude detection unit is further configured to:

determining the attitude angle gamma of the surface of the tray and the displacement x of the positioning point of the scanning measuring device and the positioning point of the surface of the tray in the extension direction of the surface of the tray according to the following formula:

or

13. An electronic device, comprising:

one or more processors;

a storage device for storing one or more programs,

when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-6.

14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-6.