CN112393720B - Target equipment positioning method and device, storage medium and electronic device - Google Patents

Target equipment positioning method and device, storage medium and electronic device Download PDF

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CN112393720B
CN112393720B CN201910755327.2A CN201910755327A CN112393720B CN 112393720 B CN112393720 B CN 112393720B CN 201910755327 A CN201910755327 A CN 201910755327A CN 112393720 B CN112393720 B CN 112393720B
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target equipment
point cloud
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positioning module
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CN112393720A (en
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请求不公布姓名
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Ninebot Beijing Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
    • G06V10/757—Matching configurations of points or features
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds

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Abstract

The invention provides a method and a device for positioning target equipment, a storage medium and an electronic device, wherein the method comprises the following steps: acquiring positioning information of target equipment by using a first positioning module on the target equipment in the moving process of the target equipment; detecting whether the first positioning module can not successfully acquire the positioning information of the target equipment in a plurality of continuous periods or beyond a first preset time length; and under the condition that the first positioning module is detected to be continuous for a plurality of periods or exceeds a first preset time period, the positioning information of the target equipment cannot be successfully acquired, the second positioning module on the target equipment is used for acquiring the positioning information of the target equipment. The method solves the problem that the robustness of the positioning to the change of the scene is poor, and achieves the effect of accurately positioning the unmanned vehicle under different scenes.

Description

Target equipment positioning method and device, storage medium and electronic device
Technical Field
The present invention relates to the field of communications, and in particular, to a method and apparatus for locating a target device, a storage medium, and an electronic apparatus.
Background
In the existing positioning method, feature points are selected by setting geometric standards, and are matched in a laser feature point map established in advance by using a point cloud matching algorithm, so that the current pose is obtained. The method has the defects of long calculation time, low robustness to scene change and requirement of initial values as input.
In view of the above technical problems, no effective solution has been proposed in the related art.
Disclosure of Invention
The embodiment of the invention provides a positioning method of target equipment, which at least solves the problem that the positioning in the related technology is poor in robustness to scene change.
According to an embodiment of the present invention, there is provided a positioning method of a target device, including: the method comprises the steps that in the moving process of target equipment, a first positioning module on the target equipment is used for obtaining positioning information of the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment, and obtaining the positioning information of the target equipment according to feature vectors of the point cloud data of the object; detecting whether the first positioning module is continuous for a plurality of periods or exceeds a first preset time period and cannot successfully acquire the positioning information of the target equipment; and under the condition that the first positioning module is detected to be continuous for a plurality of periods or exceeds the first preset time period and the positioning information of the target equipment cannot be successfully acquired, acquiring the positioning information of the target equipment by using a second positioning module on the target equipment, wherein the second positioning module is used for carrying out feature matching on the point cloud data sensed by the optical sensor and a point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching.
Optionally, in the process of acquiring the positioning information of the target device by using the second positioning module on the target device, the method further includes: continuously using the first positioning module to acquire positioning information of the target equipment; after continuing to acquire the positioning information of the target device using the first positioning module, the method further includes: and stopping using the second positioning module to acquire the positioning information of the target equipment under the condition that the first positioning module is used for successfully acquiring the positioning information of the target equipment.
Optionally, after the positioning information of the target device is acquired by using the second positioning module on the target device, the method further includes: under the condition that the second positioning module cannot successfully acquire the positioning information of the target equipment, acquiring the positioning information of the target equipment by using a laser odometer on the target equipment; or when the second positioning module is continuous for a plurality of periods or exceeds a second preset time period after the positioning information of the target equipment is acquired for the first time, acquiring the positioning information of the target equipment by using the laser odometer on the target equipment.
Optionally, in the process of acquiring the positioning information of the target device by using a laser odometer on the target device, the method further includes: continuously using the first positioning module to acquire positioning information of the target equipment; after continuing to acquire the positioning information of the target device using the first positioning module, the method further includes: and stopping acquiring the positioning information of the target equipment by using the laser odometer under the condition that the first positioning module is used for successfully acquiring the positioning information of the target equipment.
Optionally, the acquiring, by using the first positioning module on the target device, positioning information of the target device includes: acquiring the local point cloud map formed by the point cloud data sensed by the optical sensor when the target equipment travels a preset distance through the first positioning module; performing point cloud segmentation on the object in the local point cloud map through the first positioning module to obtain a feature vector of point cloud data of the object; matching the feature vector of the point cloud data of the object with the feature vector of the point cloud data of different objects in a pre-established map through the first positioning module so as to determine a target object corresponding to the object in the different objects; and determining positioning information of the target equipment according to the position of the target object in the map through the first positioning module.
Optionally, the acquiring, by using a second positioning module on the target device, positioning information of the target device further includes: acquiring point cloud data sensed by the optical sensor through the second positioning module; performing feature matching on the point cloud data sensed by the optical sensor and the point cloud data of different objects in a pre-established map through the second positioning module to obtain the matching result; and acquiring the positioning information of the target equipment according to the matching result through the second positioning module.
According to another embodiment of the present invention, there is provided a positioning method of a target device, including: the method comprises the steps that in the moving process of target equipment, a second positioning module on the target equipment is used for acquiring positioning information of the target equipment, wherein the second positioning module is used for performing feature matching on point cloud data sensed by an optical sensor on the target equipment and a point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching; detecting whether the second positioning module is continuous for a plurality of periods or exceeds a second preset time period, and can not successfully acquire the positioning information of the target equipment; and under the condition that the second positioning module is detected to be continuous for a plurality of periods or exceeds the second preset time period and the positioning information of the target equipment cannot be successfully acquired, acquiring the positioning information of the target equipment by using a first positioning module on the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by the point cloud data sensed by an optical sensor on the target equipment and acquiring the positioning information of the target equipment according to the feature vector of the point cloud data of the object.
Optionally, in the process of acquiring the positioning information of the target device by using the first positioning module on the target device, the method further includes: continuously using the second positioning module to acquire positioning information of the target equipment; after continuing to acquire the positioning information of the target device using the second positioning module, the method further includes: and stopping the first positioning module from acquiring the positioning information of the target equipment under the condition that the second positioning module is used for successfully acquiring the positioning information of the target equipment.
Optionally, after the positioning information of the target device is acquired by using the first positioning module on the target device, the method further includes: under the condition that the first positioning module cannot successfully acquire the positioning information of the target equipment, acquiring the positioning information of the target equipment by using a laser odometer on the target equipment; or under the condition that the first positioning module cannot successfully acquire the positioning information of the target equipment continuously for a plurality of periods or exceeding a second preset time, acquiring the positioning information of the target equipment by using a laser odometer on the target equipment.
Optionally, in the process of acquiring the positioning information of the target device by using a laser odometer on the target device, the method further includes: continuously using the second positioning module to acquire positioning information of the target equipment; after continuing to acquire the positioning information of the target device using the second positioning module, the method further includes: and stopping acquiring the positioning information of the target equipment by using the laser odometer under the condition that the second positioning module is used for successfully acquiring the positioning information of the target equipment.
Optionally, the obtaining, by using a second positioning module on the target device, positioning information of the target device includes: acquiring the local point cloud map formed by the point cloud data sensed by the optical sensor when the target equipment travels a preset distance through the second positioning module; performing point cloud segmentation on the object in the local point cloud map through the second positioning module to obtain a feature vector of point cloud data of the object; matching the feature vector of the point cloud data of the object with the feature vector of the point cloud data of different objects in a pre-established map through the second positioning module so as to determine a target object corresponding to the object in the different objects; and determining the positioning information of the target equipment according to the position of the target object in the map through the second positioning module.
Optionally, the acquiring, by using the first positioning module on the target device, positioning information of the target device further includes: acquiring point cloud data sensed by the optical sensor through the first positioning module; performing feature matching on the point cloud data sensed by the optical sensor and the point cloud data of different objects in a pre-established map through the first positioning module to obtain the matching result; and acquiring the positioning information of the target equipment according to the matching result through the first positioning module.
According to another embodiment of the present invention, there is provided a positioning apparatus of a target device, including: the first acquisition module is used for acquiring positioning information of the target equipment by using the first positioning module on the target equipment in the moving process of the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment and acquiring the positioning information of the target equipment according to a feature vector of the point cloud data of the object; the first detection module is used for detecting whether the first positioning module is continuous for a plurality of periods or exceeds a first preset time period and cannot successfully acquire the positioning information of the target equipment; and the second acquisition module is used for acquiring the positioning information of the target equipment by using the second positioning module on the target equipment under the condition that the first positioning module is detected to continuously acquire the positioning information of the target equipment for a plurality of periods or longer than the first preset time, wherein the second positioning module is used for performing feature matching on the point cloud data sensed by the optical sensor and a point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching.
According to another embodiment of the present invention, there is provided a positioning apparatus of a target device, including: the third acquisition module is used for acquiring the positioning information of the target equipment by using the second positioning module on the target equipment in the moving process of the target equipment, wherein the second positioning module is used for performing feature matching on the point cloud data sensed by the optical sensor on the target equipment and a point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching; the second detection module is used for detecting whether the second positioning module is continuous for a plurality of periods or exceeds a second preset time period and cannot successfully acquire the positioning information of the target equipment; and a fourth obtaining module, configured to obtain, when it is detected that the second positioning module is capable of successfully obtaining the positioning information of the target device in the plurality of periods or longer than the second predetermined period, the positioning information of the target device using a first positioning module on the target device, where the first positioning module is configured to perform point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target device, and obtain the positioning information of the target device according to a feature vector of the point cloud data of the object.
According to a further embodiment of the invention, there is also provided a storage medium having stored therein a computer program, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.
According to a further embodiment of the invention, there is also provided an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
According to the method and the device, the first positioning module on the target equipment is used for acquiring the positioning information of the target equipment in the moving process of the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by the point cloud data sensed by the optical sensor on the target equipment and acquiring the positioning information of the target equipment according to the feature vector of the point cloud data of the object; detecting whether the first positioning module can not successfully acquire the positioning information of the target equipment in a plurality of continuous periods or beyond a first preset time length; and under the condition that the first positioning module cannot successfully acquire the positioning information of the target equipment in a plurality of continuous periods or beyond a first preset time period, acquiring the positioning information of the target equipment by using a second positioning module on the target equipment, wherein the second positioning module is used for performing feature matching on the point cloud data sensed by the optical sensor and the point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching. The purpose of positioning the target equipment under different scenes by utilizing the first positioning module and the second positioning module is achieved. Therefore, the problem that the robustness of the positioning to the scene change is poor in the related technology can be solved, and the effect of accurately positioning the target equipment under different scenes is achieved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
fig. 1 is a block diagram of a hardware structure of a mobile terminal of a positioning method of a target device according to an embodiment of the present invention;
FIG. 2 is a flow chart (one) of a method of locating a target device according to an embodiment of the invention;
FIG. 3 is a flow chart (II) of a method of locating a target device according to an embodiment of the invention;
FIG. 4 is a block diagram (one) of a positioning apparatus of a target device according to an embodiment of the present invention;
fig. 5 is a block diagram (two) of a structure of a positioning apparatus of a target device according to an embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the drawings in conjunction with embodiments. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided by the embodiments of the present application may be performed in a mobile terminal, a computer terminal, or similar computing device. Taking the mobile terminal as an example, fig. 1 is a block diagram of a hardware structure of the mobile terminal of a positioning method of a target device according to an embodiment of the present invention. As shown in fig. 1, the mobile terminal 10 may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA) and a memory 104 for storing data, and optionally a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the structure shown in fig. 1 is merely illustrative and not limiting of the structure of the mobile terminal described above. For example, the mobile terminal 10 may also include more or fewer components than shown in FIG. 1 or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to a method for locating a target device in an embodiment of the present invention, and the processor 102 executes the computer program stored in the memory 104, thereby performing various functional applications and data processing, that is, implementing the method described above. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission means 106 is arranged to receive or transmit data via a network. The specific examples of networks described above may include wireless networks provided by the communication provider of the mobile terminal 10. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet wirelessly.
In this embodiment, a method for locating a target device is provided, fig. 2 is a flowchart (a) of a method for locating a target device according to an embodiment of the present invention, and as shown in fig. 2, the flowchart includes the following steps:
step S202, positioning information of target equipment is obtained by using a first positioning module on the target equipment in the moving process of the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment and obtaining the positioning information of the target equipment according to feature vectors of the point cloud data of the object;
Step S204, detecting whether the first positioning module can not successfully acquire the positioning information of the target device in a plurality of continuous periods or beyond a first preset time length;
in step S206, under the condition that the first positioning module is detected to be unable to successfully acquire the positioning information of the target device for a plurality of periods or longer than the first predetermined time, the second positioning module on the target device is used to acquire the positioning information of the target device, where the second positioning module is used to perform feature matching on the point cloud data sensed by the optical sensor and the point cloud data set acquired in advance, and acquire the positioning information of the target device according to the matching result obtained by the feature matching.
Alternatively, the execution subject of the above steps may be a terminal or the like, but is not limited thereto.
Alternatively, in the present embodiment, the target device includes, but is not limited to, a device that can be moved, such as an unmanned vehicle.
Alternatively, in this embodiment, the above-mentioned positioning method of the target device may be, but is not limited to, applied to a positioning scene. For example, positioning during travel of the target device. Wherein the positioning information may be, but is not limited to, longitude information, latitude information, distance information, etc. of the target device. The first positioning module and the second positioning module include, but are not limited to, positioning devices arranged on the vehicle, wherein the positioning devices are provided with optical sensor equipment; the logic steps executed by the first positioning module and the second positioning module can also be directly executed by the execution main body of the positioning method and obtain corresponding positioning information. The above is merely an example, and there is no limitation in this embodiment.
Alternatively, the first positioning module and the second positioning module may be two components of the positioning device, each performing a different positioning operation. Two separate positioning devices are also possible, but are not limited thereto.
Optionally, the plurality of periods includes a period of spatial distance, a period of time, and the like.
Optionally, the optical sensor device acquires positioning information using an optical radar (Light Detection and Ranging, liDAR), an optical remote sensing technique that measures parameters such as the distance of a target by illuminating the target with a beam of light, typically a pulsed laser. Optical sensor devices include, but are not limited to, applications and fields of mapping, archaeology, geography, topography, earthquake, forestry, remote sensing, atmospheric physics, target devices, and the like.
Optionally, point cloud segmentation (Points Segmentation) is a method of processing a three-dimensional point cloud, from which different objects can be extracted for processing separately. The common point cloud segmentation method includes segmentation based on Euclidean distance, segmentation method based on deep neural network, and the like. For example, in the present embodiment, point cloud segmentation is performed on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on a target device, and positioning information of the target device is obtained according to feature vectors of the point cloud data of the object.
Optionally, in this embodiment, the target device may encounter different situations in different scenarios, and if only one positioning manner is adopted, it cannot adapt to multiple scenarios. For example, the target device may be traveling on a congested road, and the first positioning module may fail and may not continue to perform positioning. If the positioning mode is not replaced, the target equipment is out of control, and adverse effects are caused. At this time, under the condition that the first positioning module cannot successfully acquire the positioning information of the target equipment, the second positioning module on the target equipment is used for acquiring the positioning information of the target equipment, so that the normal running of the vehicle is ensured.
Optionally, the first positioning module is configured to perform point cloud segmentation on an object in a local point cloud map formed by the point cloud data sensed by the optical sensor on the target device, and obtain positioning information of the target device according to a feature vector of the point cloud data of the object. The embodiment is effective for environments with certain geometric characteristics, such as planes and edges, and is suitable for areas with narrower visual fields and environments with monotonous space objects, such as passages between buildings.
The second positioning module is used for performing feature matching on the point cloud data sensed by the optical sensor and the point cloud data set acquired in advance, and acquiring positioning information of the target equipment according to a matching result obtained by the feature matching. The embodiment has excellent effect on the scenes of more objects such as trees, street lamps and guideboards which are separated in space in the environment, does not need to depend on other sensors, has short calculation time, and can realize real-time global positioning.
According to the embodiment, the target equipment is positioned by combining the characteristics of the first positioning module and the second positioning module, so that the target equipment can be suitable for different environments, and the accuracy of positioning the target equipment is improved. The robustness of the positioning is improved.
In an alternative embodiment, in the process of acquiring the positioning information of the target device using the second positioning module on the target device, the method further includes:
s1, continuously using a first positioning module to acquire positioning information of target equipment;
after continuing to acquire the positioning information of the target device using the first positioning module, the method further includes:
s2, under the condition that the first positioning module is used for successfully acquiring the positioning information of the target equipment, the second positioning module is stopped from being used for acquiring the positioning information of the target equipment.
Alternatively, in the present embodiment, after the second positioning module is started to position, the first positioning module does not need to be turned off. That is, the first positioning module and the second positioning module may operate simultaneously.
According to the embodiment, the first positioning module and the second positioning module are used for positioning at the same time, and the module which is used for preferentially acquiring the positioning data is selected, so that the timeliness and accuracy of positioning of the target equipment are improved.
In an alternative embodiment, after the positioning information of the target device is acquired using the second positioning module on the target device, the method further includes:
s1, under the condition that a second positioning module cannot successfully acquire positioning information of target equipment, acquiring the positioning information of the target equipment by using a laser odometer on the target equipment; or,
s2, after the positioning information of the target equipment is acquired for the first time, under the condition that the second positioning module cannot successfully acquire the positioning information of the target equipment continuously for a plurality of periods or exceeds a second preset time, acquiring the positioning information of the target equipment by using a laser odometer on the target equipment.
Alternatively, in this embodiment, in the case where the second positioning module cannot acquire the positioning information of the target device, the positioning information of the target device may be acquired by means of the laser odometer.
Optionally, the laser odometer may estimate the spatial transformation of the target device in Real time, so as to obtain a motion track of a section of optical sensor of the target device, that is, a pose with six degrees of freedom, and simultaneously calculate the relative transformation between the track of the carrier-phase differential technology (Real-time kinetic) RTK and the track on a two-dimensional plane by using an ICP method of an emission spectrometer, so as to align the track of the RTK and the motion track of a section of optical sensor of the target device. After the track alignment, each RTK point is added into a pose graph formed by the pose of the optical sensor for optimization, so that the error of the laser odometer is reduced. When the target equipment is driven to the once driven position again, the current laser point cloud and the constructed point cloud map can be matched, and the accumulated error is optimized, so that the pose of the optical sensor for mapping is obtained. And combining the pose of the optical sensor with the three-dimensional point cloud characteristic points and the three-dimensional point cloud segmentation, a global three-dimensional characteristic point map and a global three-dimensional point cloud segmentation map can be established, and the two map coordinate systems are consistent.
According to the embodiment, the target equipment is positioned by assisting the laser odometer, so that the accuracy of positioning the target equipment is further improved, and the robustness of different environments is adapted.
In an alternative embodiment, in the process of acquiring the positioning information of the target device using the laser odometer on the target device, the method further comprises:
s1, continuously using a first positioning module to acquire positioning information of target equipment;
after continuing to acquire the positioning information of the target device using the first positioning module, the method further includes:
s2, under the condition that the first positioning module is used for successfully acquiring the positioning information of the target equipment, stopping acquiring the positioning information of the target equipment by using the laser odometer.
Alternatively, in this embodiment, the first positioning module does not need to be turned off after the laser odometer positioning is started. That is, the first positioning module and the laser odometer may operate simultaneously.
According to the embodiment, the first positioning module and the starting laser odometer are used for positioning at the same time, and the module which is used for preferentially acquiring positioning data is selected, so that the timeliness and accuracy of positioning of the target equipment are improved.
In an alternative embodiment, using a first positioning module on a target device to obtain positioning information of the target device includes:
S1, acquiring a local point cloud map formed by point cloud data sensed by an optical sensor when target equipment travels a preset distance through a first positioning module;
s2, performing point cloud segmentation on the object in the local point cloud map through a first positioning module to obtain a feature vector of point cloud data of the object;
s3, matching the feature vector of the point cloud data of the object with the feature vector of the point cloud data of different objects in a pre-established map through a first positioning module so as to determine target objects corresponding to the objects in the different objects;
s4, determining positioning information of the target equipment according to the position of the target object in the map through the first positioning module.
Optionally, in this embodiment, after determining the initial positioning (which may be implemented by visual positioning, laser and RTK) of the target device, the target device starts autonomous navigation running, and simultaneously constructs a local three-dimensional point cloud segmentation map, and performs positioning in the global three-dimensional point cloud segmentation map. And simultaneously, detecting the space distance and the time interval of the last successful positioning of the method, and when the distance is larger than a threshold value or the time interval is larger than a certain threshold value, inputting the positioning result at the current moment into a first positioning module based on the three-dimensional characteristic points, and matching the first positioning module with pose information and the current optical sensor point cloud in a global three-dimensional point cloud characteristic map to output the positioning result.
According to the embodiment, the first positioning module is used for determining the positioning information of the target equipment according to the position of the target object in the map, so that the effect of accurately positioning the target equipment can be achieved.
In an alternative embodiment, the obtaining the positioning information of the target device using the second positioning module on the target device further includes:
s1, acquiring point cloud data sensed by an optical sensor through a second positioning module;
s2, performing feature matching on the point cloud data sensed by the optical sensor and the point cloud data of different objects in a pre-established map through a second positioning module to obtain a matching result;
s3, obtaining positioning information of the target equipment according to the matching result through the second positioning module.
Alternatively, in this embodiment, the point cloud data of different objects in the pre-established map may represent information such as shapes, attributes, and the like of the different objects, so that the point cloud data of the target device may be obtained through matching to determine the coordinate position of the target device.
According to the embodiment, the second positioning module is used for carrying out feature matching on the point cloud data sensed by the optical sensor and the point cloud data of different objects in the pre-established map to obtain a matching result, positioning information of the target equipment is obtained according to the matching result, and positioning of the target equipment is never accurate.
In this embodiment, a positioning method of a target device is provided, fig. 3 is a flowchart (two) of a positioning method of a target device according to an embodiment of the present invention, and as shown in fig. 3, the flowchart includes the following steps:
step S302, acquiring positioning information of the target equipment by using a second positioning module on the target equipment in the moving process of the target equipment, wherein the second positioning module is used for performing feature matching on the point cloud data sensed by the optical sensor on the target equipment and a point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching;
step S304, detecting whether the second positioning module can not successfully acquire the positioning information of the target device in a plurality of continuous periods or beyond a second preset time length;
in step S306, under the condition that the second positioning module is detected to be unable to successfully acquire the positioning information of the target device for a plurality of periods or longer than the second predetermined time, the first positioning module on the target device is used to acquire the positioning information of the target device, where the first positioning module is used to perform point cloud segmentation on the object in the local point cloud map formed by the point cloud data sensed by the optical sensor on the target device, and acquire the positioning information of the target device according to the feature vector of the point cloud data of the object.
Alternatively, the execution subject of the above steps may be a terminal or the like, but is not limited thereto.
Alternatively, in the present embodiment, the target device includes, but is not limited to, a device that can be moved, such as an unmanned vehicle.
Optionally, the plurality of periods includes a period of spatial distance, a period of time, and the like.
Alternatively, in this embodiment, the above-mentioned positioning method of the target device may be, but is not limited to, applied to a positioning scene. For example, positioning during travel of the target device. Wherein the positioning information may be, but is not limited to, longitude information, latitude information, distance information, etc. of the target device. The first positioning module and the second positioning module include, but are not limited to, positioning devices provided on the vehicle in which the optical sensor apparatus is provided. The above is merely an example, and there is no limitation in this embodiment.
Optionally, the optical sensor device acquires positioning information using an optical radar (Light Detection and Ranging, liDAR), an optical remote sensing technique that measures parameters such as the distance of a target by illuminating the target with a beam of light, typically a pulsed laser. Optical sensor devices include, but are not limited to, applications and fields of mapping, archaeology, geography, topography, earthquake, forestry, remote sensing, atmospheric physics, target devices, and the like.
Optionally, point cloud segmentation (Points Segmentation) is a method of processing a three-dimensional point cloud, from which different objects can be extracted for processing separately. The common point cloud segmentation method includes segmentation based on Euclidean distance, segmentation method based on deep neural network, and the like. For example, in the present embodiment, point cloud segmentation is performed on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on a target device, and positioning information of the target device is obtained according to feature vectors of the point cloud data of the object.
Optionally, in this embodiment, the target device may encounter different situations in different scenarios, and if only one positioning manner is adopted, it cannot adapt to multiple scenarios. For example, the target device may be traveling on a congested road, and the first positioning module may fail and may not continue to perform positioning. If the positioning mode is not replaced, the target equipment is out of control, and adverse effects are caused. At this time, under the condition that the first positioning module cannot successfully acquire the positioning information of the target equipment, the second positioning module on the target equipment is used for acquiring the positioning information of the target equipment, so that the normal running of the vehicle is ensured.
Optionally, the first positioning module is configured to perform point cloud segmentation on an object in a local point cloud map formed by the point cloud data sensed by the optical sensor on the target device, and obtain positioning information of the target device according to a feature vector of the point cloud data of the object. The embodiment is effective for environments with certain geometric characteristics (such as planes and edges), and is suitable for environments with narrower visual fields and monotonous space objects (such as aisles between buildings).
The second positioning module is used for performing feature matching on the point cloud data sensed by the optical sensor and the point cloud data set acquired in advance, and acquiring positioning information of the target equipment according to a matching result obtained by the feature matching. The embodiment has excellent effect on scenes of objects (such as trees, street lamps and guideboards) which are separated in space in the environment, does not need to depend on other sensors, has short calculation time, and can realize real-time global positioning.
According to the embodiment, the target equipment is positioned by combining the characteristics of the first positioning module and the second positioning module, so that the target equipment can be suitable for different environments, and the accuracy of positioning the target equipment is improved. The robustness of the positioning is improved.
In an alternative embodiment, in the process of acquiring the positioning information of the target device using the first positioning module on the target device, the method further includes:
s1, continuously using a second positioning module to acquire positioning information of target equipment;
after continuing to acquire the positioning information of the target device using the second positioning module, the method further includes:
s2, under the condition that the second positioning module is used for successfully acquiring the positioning information of the target equipment, stopping acquiring the positioning information of the target equipment by using the first positioning module.
Alternatively, in the present embodiment, after the second positioning module is started to position, the first positioning module does not need to be turned off. That is, the first positioning module and the second positioning module may operate simultaneously.
According to the embodiment, the first positioning module and the second positioning module are used for positioning at the same time, and the module which is used for preferentially acquiring the positioning data is selected, so that the timeliness and accuracy of positioning of the target equipment are improved.
In an alternative embodiment, after the positioning information of the target device is acquired using the first positioning module on the target device, the method further includes:
s1, under the condition that a first positioning module cannot successfully acquire positioning information of target equipment, acquiring the positioning information of the target equipment by using a laser odometer on the target equipment; or,
S2, under the condition that the first positioning module continuously acquires the positioning information of the target equipment for a plurality of periods or exceeds a second preset time, the laser odometer on the target equipment is used for acquiring the positioning information of the target equipment.
Alternatively, in this embodiment, in the case where the second positioning module cannot acquire the positioning information of the target device, the positioning information of the target device may be acquired by means of the laser odometer.
Optionally, the laser odometer may estimate the spatial transformation of the target device in Real time, so as to obtain a motion track of a section of optical sensor of the target device, that is, a pose with six degrees of freedom, and simultaneously calculate the relative transformation between the track of the carrier-phase differential technology (Real-time kinetic) RTK and the track on a two-dimensional plane by using an ICP method of an emission spectrometer, so as to align the RTK track with the optical sensor device. After the track alignment, each RTK point is added into a pose graph formed by the pose of the optical sensor for optimization, so that the error of the laser odometer is reduced. When the target equipment is driven to the once driven position again, the current laser point cloud and the constructed point cloud map can be matched, and the accumulated error is optimized, so that the pose of the optical sensor for mapping is obtained. And combining the pose of the optical sensor with the three-dimensional point cloud characteristic points and the three-dimensional point cloud segmentation, a global three-dimensional characteristic point map and a global three-dimensional point cloud segmentation map can be established, and the two map coordinate systems are consistent.
According to the embodiment, the target equipment is positioned by assisting the laser odometer, so that the accuracy of positioning the target equipment is further improved, and the robustness of different environments is adapted.
In an alternative embodiment, in the process of acquiring the positioning information of the target device using the laser odometer on the target device, the method further comprises:
s1, continuously using a second positioning module to acquire positioning information of target equipment;
after continuing to acquire the positioning information of the target device using the second positioning module, the method further includes:
s2, under the condition that the second positioning module is used for successfully acquiring the positioning information of the target equipment, stopping acquiring the positioning information of the target equipment by using the laser odometer.
Alternatively, in this embodiment, the first positioning module does not need to be turned off after the laser odometer positioning is started. That is, the first positioning module and the laser odometer may operate simultaneously.
According to the embodiment, the first positioning module and the starting laser odometer are used for positioning at the same time, and the module which is used for preferentially acquiring positioning data is selected, so that the timeliness and accuracy of positioning of the target equipment are improved.
In an alternative embodiment, the obtaining the positioning information of the target device using the second positioning module on the target device includes:
S1, acquiring a local point cloud map formed by point cloud data sensed by an optical sensor when target equipment travels a preset distance through a second positioning module;
s2, performing point cloud segmentation on the object in the local point cloud map through a second positioning module to obtain a feature vector of point cloud data of the object;
s3, matching the feature vector of the point cloud data of the object with the feature vector of the point cloud data of different objects in a pre-established map through a second positioning module to determine target objects corresponding to the objects in the different objects;
s4, determining positioning information of the target equipment according to the position of the target object in the map through the second positioning module.
Optionally, in this embodiment, after determining the initial positioning (which may be implemented by visual positioning, laser and RTK) of the target device, the target device starts autonomous navigation running, and simultaneously constructs a local three-dimensional point cloud segmentation map, and performs positioning in the global three-dimensional point cloud segmentation map. And simultaneously, detecting the space distance and the time interval of the last successful positioning of the method, and when the distance is larger than a threshold value or the time interval is larger than a certain threshold value, inputting the positioning result at the current moment into a first positioning module based on the three-dimensional characteristic points, and matching the first positioning module with pose information and the current optical sensor point cloud in a global three-dimensional point cloud characteristic map to output the positioning result.
According to the embodiment, the second positioning module is used for determining the positioning information of the target equipment according to the position of the target object in the map, so that the effect of accurately positioning the target equipment can be achieved.
In an alternative embodiment, the method further includes using a first positioning module on the target device to obtain positioning information of the target device, and further including:
s1, acquiring point cloud data sensed by an optical sensor through a first positioning module;
s2, performing feature matching on the point cloud data sensed by the optical sensor and the point cloud data of different objects in a pre-established map through a first positioning module to obtain a matching result;
s3, positioning information of the target equipment is obtained through the first positioning module according to the matching result.
Alternatively, in this embodiment, the point cloud data of different objects in the pre-established map may represent information such as shapes, attributes, and the like of the different objects, so that the point cloud data of the target device may be obtained through matching to determine the coordinate position of the target device.
According to the embodiment, the first positioning module is used for carrying out feature matching on the point cloud data sensed by the optical sensor and the point cloud data of different objects in the pre-established map to obtain a matching result, positioning information of the target equipment is obtained according to the matching result, and positioning of the target equipment is never accurate.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The embodiment also provides a positioning device for a target device, which is used for implementing the foregoing embodiments and preferred embodiments, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
Fig. 4 is a block diagram (a) of a positioning apparatus of a target device according to an embodiment of the present invention, as shown in fig. 4, the apparatus includes:
the first obtaining module 42 is configured to obtain positioning information of the target device by using a first positioning module on the target device during a moving process of the target device, where the first positioning module is configured to perform point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target device, and obtain the positioning information of the target device according to a feature vector of the point cloud data of the object;
a first detecting module 44, configured to detect whether the first positioning module cannot successfully acquire the positioning information of the target device for a plurality of periods or more than a first predetermined time period;
and a second obtaining module 46, configured to obtain, when it is detected that the first positioning module cannot successfully obtain the positioning information of the target device for a plurality of periods or longer than the first predetermined period, the positioning information of the target device using a second positioning module on the target device, where the second positioning module is configured to perform feature matching on the point cloud data sensed by the optical sensor and the pre-obtained point cloud data set, and obtain the positioning information of the target device according to a matching result obtained by the feature matching.
Optionally, the apparatus further includes: the fifth acquisition module is used for continuously using the first positioning module to acquire the positioning information of the target equipment in the process of acquiring the positioning information of the target equipment by using the second positioning module on the target equipment;
and the first stopping module is used for stopping the second positioning module from acquiring the positioning information of the target equipment under the condition that the first positioning module is used for successfully acquiring the positioning information of the target equipment after the first positioning module is used for acquiring the positioning information of the target equipment.
Optionally, the apparatus further includes:
a sixth obtaining module, configured to obtain, after obtaining the positioning information of the target device using the second positioning module on the target device, obtain the positioning information of the target device using the laser odometer on the target device if the second positioning module cannot successfully obtain the positioning information of the target device; or,
and the seventh acquisition module is used for acquiring the positioning information of the target equipment by using the laser odometer on the target equipment under the condition that the second positioning module can not successfully acquire the positioning information of the target equipment continuously for a plurality of periods or more than a second preset time after the positioning information of the target equipment is acquired for the first time.
Optionally, the apparatus further includes:
an eighth obtaining module, configured to, in a process of obtaining positioning information of the target device using the laser odometer on the target device, continue to use the first positioning module to obtain the positioning information of the target device;
and the second stopping module is used for stopping using the laser odometer to acquire the positioning information of the target equipment under the condition that the first positioning module is used for successfully acquiring the positioning information of the target equipment after the first positioning module is used for continuously acquiring the positioning information of the target equipment.
Optionally, the first obtaining module includes:
a first acquisition unit, configured to acquire, through a first positioning module, a local point cloud map formed by point cloud data sensed by an optical sensor when a target device travels a predetermined distance;
the first determining unit is used for carrying out point cloud segmentation on the object in the local point cloud map through the first positioning module to obtain a feature vector of point cloud data of the object;
the second determining unit is used for matching the characteristic vector of the point cloud data of the object with the characteristic vector of the point cloud data of different objects in the pre-established map through the first positioning module so as to determine a target object corresponding to the object in the different objects;
And the third determining unit is used for determining the positioning information of the target equipment according to the position of the target object in the map through the first positioning module.
Optionally, the second obtaining module includes:
the second acquisition unit is used for acquiring the point cloud data sensed by the optical sensor through the second positioning module;
a fourth determining unit, configured to perform feature matching on the point cloud data sensed by the optical sensor and point cloud data of different objects in a pre-established map through a second positioning module, so as to obtain a matching result;
and the third acquisition unit is used for acquiring the positioning information of the target equipment according to the matching result through the second positioning module.
The specific implementation is the same as the above embodiment, and will not be repeated here.
Fig. 5 is a block diagram (two) of a positioning apparatus of a target device according to an embodiment of the present invention, as shown in fig. 5, the apparatus includes:
the third obtaining module 52 is configured to obtain positioning information of the target device by using a second positioning module on the target device during the moving process of the target device, where the second positioning module is configured to perform feature matching on the point cloud data sensed by the optical sensor on the target device and the point cloud data set obtained in advance, and obtain the positioning information of the target device according to a matching result obtained by the feature matching;
A second detecting module 54, configured to detect whether the second positioning module cannot successfully acquire the positioning information of the target device for a plurality of periods or more than a second predetermined period;
the fourth obtaining module 56 is configured to obtain, when it is detected that the second positioning module cannot successfully obtain the positioning information of the target device for a plurality of periods or longer than the second predetermined period, the positioning information of the target device using the first positioning module on the target device, where the first positioning module is configured to perform point cloud segmentation on an object in a local point cloud map formed by the point cloud data sensed by the optical sensor on the target device, and obtain the positioning information of the target device according to a feature vector of the point cloud data of the object.
Optionally, the apparatus further includes:
a ninth obtaining module, configured to, in a process of obtaining positioning information of the target device using the first positioning module on the target device, continue to use the second positioning module to obtain the positioning information of the target device;
and the third stopping module is used for stopping the first positioning module from acquiring the positioning information of the target equipment under the condition that the second positioning module is used for successfully acquiring the positioning information of the target equipment after the second positioning module is used for acquiring the positioning information of the target equipment.
Optionally, the apparatus further includes:
a tenth acquisition module, configured to acquire, after acquiring positioning information of the target device using the first positioning module on the target device, the positioning information of the target device using the laser odometer on the target device if the first positioning module cannot successfully acquire the positioning information of the target device; or,
and the eleventh acquisition module is used for acquiring the positioning information of the target equipment by using the laser odometer on the target equipment under the condition that the first positioning module cannot successfully acquire the positioning information of the target equipment for a plurality of periods or more than a second preset time.
Optionally, the apparatus further includes:
a twelfth acquisition module, configured to, in a process of acquiring positioning information of the target device using the laser odometer on the target device, continue to acquire the positioning information of the target device using the second positioning module;
and the fourth stopping module is used for stopping using the laser odometer to acquire the positioning information of the target equipment under the condition that the second positioning module is used for successfully acquiring the positioning information of the target equipment after the second positioning module is used for acquiring the positioning information of the target equipment.
Optionally, the third acquisition module includes:
A fourth acquisition unit, configured to acquire, through a second positioning module, a local point cloud map formed by point cloud data sensed by an optical sensor when the target device travels a predetermined distance;
a fifth determining unit, configured to perform point cloud segmentation on an object in the local point cloud map through a second positioning module, to obtain a feature vector of point cloud data of the object;
a sixth determining unit, configured to match, through a second positioning module, feature vectors of point cloud data of an object with feature vectors of point cloud data of different objects in a pre-established map, so as to determine a target object corresponding to the object in the different objects;
and a seventh determining unit, configured to determine, by using the second positioning module, positioning information of the target device according to the position of the target object in the map.
Optionally, the fourth acquisition module includes:
a fifth acquisition unit for acquiring the point cloud data sensed by the optical sensor through the first positioning module;
an eighth determining unit, configured to perform feature matching on the point cloud data sensed by the optical sensor and point cloud data of different objects in a pre-established map through the first positioning module, so as to obtain a matching result;
and the sixth acquisition unit is used for acquiring the positioning information of the target equipment according to the matching result through the first positioning module.
The specific implementation is the same as the above embodiment, and will not be repeated here.
It should be noted that each of the above modules may be implemented by software or hardware, and for the latter, it may be implemented by, but not limited to: the modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.
An embodiment of the invention also provides a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.
Alternatively, in the present embodiment, the above-described storage medium may be configured to store a computer program for performing the steps of:
s1, acquiring positioning information of target equipment by using a first positioning module on the target equipment in the moving process of the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment and acquiring the positioning information of the target equipment according to a feature vector of the point cloud data of the object;
s2, detecting whether the first positioning module is continuous for a plurality of periods or exceeds a first preset time period, and the positioning information of the target equipment cannot be successfully acquired;
And S3, under the condition that the first positioning module is detected to continuously acquire the positioning information of the target equipment for a plurality of periods or exceeds a first preset time period, acquiring the positioning information of the target equipment by using a second positioning module on the target equipment, wherein the second positioning module is used for performing feature matching on the point cloud data sensed by the optical sensor and the point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching.
Optionally, the storage medium is further arranged to store a computer program for performing the steps of:
s1, acquiring positioning information of target equipment by using a second positioning module on the target equipment in the moving process of the target equipment, wherein the second positioning module is used for performing feature matching on point cloud data sensed by an optical sensor on the target equipment and a point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching;
s2, detecting whether the second positioning module is continuous for a plurality of periods or exceeds a second preset time period, and the positioning information of the target equipment cannot be successfully acquired;
and S3, under the condition that the second positioning module is detected to continuously acquire the positioning information of the target equipment for a plurality of periods or exceeds a second preset time period, acquiring the positioning information of the target equipment by using the first positioning module on the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by the point cloud data sensed by the optical sensor on the target equipment and acquiring the positioning information of the target equipment according to the feature vector of the point cloud data of the object.
Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing a computer program.
An embodiment of the invention also provides an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, where the transmission device is connected to the processor, and the input/output device is connected to the processor.
Alternatively, in the present embodiment, the above-described processor may be configured to execute the following steps by a computer program:
s1, acquiring positioning information of target equipment by using a first positioning module on the target equipment in the moving process of the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment and acquiring the positioning information of the target equipment according to a feature vector of the point cloud data of the object;
S2, detecting whether the first positioning module is continuous for a plurality of periods or exceeds a first preset time period, and the positioning information of the target equipment cannot be successfully acquired;
and S3, under the condition that the first positioning module is detected to continuously acquire the positioning information of the target equipment for a plurality of periods or exceeds a first preset time period, acquiring the positioning information of the target equipment by using a second positioning module on the target equipment, wherein the second positioning module is used for performing feature matching on the point cloud data sensed by the optical sensor and the point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching.
Alternatively, in the present embodiment, the above-described processor may be configured to execute the following steps by a computer program:
s1, acquiring positioning information of target equipment by using a second positioning module on the target equipment in the moving process of the target equipment, wherein the second positioning module is used for performing feature matching on point cloud data sensed by an optical sensor on the target equipment and a point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching;
s2, detecting whether the second positioning module is continuous for a plurality of periods or exceeds a second preset time period, and the positioning information of the target equipment cannot be successfully acquired;
And S3, under the condition that the second positioning module is detected to continuously acquire the positioning information of the target equipment for a plurality of periods or exceeds a second preset time period, acquiring the positioning information of the target equipment by using the first positioning module on the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by the point cloud data sensed by the optical sensor on the target equipment and acquiring the positioning information of the target equipment according to the feature vector of the point cloud data of the object.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments and optional implementations, and this embodiment is not described herein.
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may alternatively be implemented in program code executable by computing devices, so that they may be stored in a memory device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps within them may be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention should be included in the protection scope of the present invention.

Claims (16)

1. A method for locating a target device, comprising:
the method comprises the steps that in the moving process of target equipment, a first positioning module on the target equipment is used for obtaining positioning information of the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment, and obtaining the positioning information of the target equipment according to feature vectors of the point cloud data of the object;
detecting whether the first positioning module is continuous for a plurality of periods or exceeds a first preset time period and cannot successfully acquire the positioning information of the target equipment;
under the condition that the first positioning module continuously acquires the positioning information of the target equipment in a plurality of periods or beyond the first preset time period, acquiring the positioning information of the target equipment by using a second positioning module on the target equipment, wherein the second positioning module is used for performing feature matching on the point cloud data sensed by the optical sensor and a point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching;
After determining the initial positioning of the target equipment, detecting a space distance and a time interval between the initial positioning and the positioning of the target equipment in the positioning information of the current moment, and inputting a positioning result of the current moment to the first positioning module when the space distance is larger than a threshold value or the time interval is larger than a threshold value, wherein the first positioning module is used for matching the pose information of the target equipment and the optical sensor point cloud of the current moment in a global three-dimensional point cloud feature map and outputting the positioning result of the target equipment.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
in the process of acquiring the positioning information of the target device by using the second positioning module on the target device, the method further comprises: continuing to acquire the positioning information of the target equipment by using the first positioning module;
after continuing to acquire the positioning information of the target device using the first positioning module, the method further includes: and under the condition that the first positioning module is used for successfully acquiring the positioning information of the target equipment, stopping using the second positioning module to acquire the positioning information of the target equipment.
3. The method of claim 1, wherein after the obtaining the location information of the target device using the second location module on the target device, further comprising:
under the condition that the second positioning module cannot successfully acquire the positioning information of the target equipment, acquiring the positioning information of the target equipment by using a laser odometer on the target equipment; or alternatively
After the positioning information of the target equipment is acquired for the first time, under the condition that the second positioning module cannot successfully acquire the positioning information of the target equipment continuously for a plurality of periods or for more than a second preset time, acquiring the positioning information of the target equipment by using a laser odometer on the target equipment.
4. The method of claim 3, wherein the step of,
in the process of acquiring the positioning information of the target device by using the laser odometer on the target device, the method further comprises: continuing to acquire the positioning information of the target equipment by using the first positioning module;
after continuing to acquire the positioning information of the target device using the first positioning module, the method further includes: and under the condition that the first positioning module is used for successfully acquiring the positioning information of the target equipment, stopping using the laser odometer to acquire the positioning information of the target equipment.
5. The method of any of claims 1-4, wherein the obtaining location information of the target device using a first location module on the target device comprises:
acquiring the local point cloud map formed by the point cloud data sensed by the optical sensor when the target equipment travels a preset distance through the first positioning module;
performing point cloud segmentation on an object in the local point cloud map through the first positioning module to obtain a feature vector of point cloud data of the object;
matching the feature vector of the point cloud data of the object with the feature vector of the point cloud data of different objects in a pre-established map through the first positioning module so as to determine a target object corresponding to the object in the different objects;
and determining positioning information of the target equipment according to the position of the target object in the map through the first positioning module.
6. The method of any of claims 1-4, wherein the obtaining location information of the target device using a second location module on the target device further comprises:
acquiring point cloud data sensed by the optical sensor through the second positioning module;
Performing feature matching on the point cloud data sensed by the optical sensor and the point cloud data of different objects in a pre-established map through the second positioning module to obtain the matching result;
and acquiring positioning information of the target equipment according to the matching result through the second positioning module.
7. A method for locating a target device, comprising:
the method comprises the steps that in the moving process of target equipment, a second positioning module on the target equipment is used for obtaining positioning information of the target equipment, wherein the second positioning module is used for performing feature matching on point cloud data sensed by an optical sensor on the target equipment and a point cloud data set obtained in advance, and obtaining the positioning information of the target equipment according to a matching result obtained by the feature matching;
detecting whether the second positioning module can not successfully acquire the positioning information of the target device in a plurality of continuous periods or beyond a second preset time length;
under the condition that the second positioning module is detected to be continuous for a plurality of periods or exceeds the second preset time period and the positioning information of the target equipment cannot be successfully acquired, the first positioning module on the target equipment is used for acquiring the positioning information of the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by the point cloud data sensed by the optical sensor on the target equipment and acquiring the positioning information of the target equipment according to the feature vector of the point cloud data of the object;
After determining the initial positioning of the target equipment, a first positioning module detects the space distance and the time interval between the initial positioning and the positioning of the target equipment in the positioning information of the current moment, when the space distance is larger than a threshold value or the time interval is larger than a threshold value, the positioning result of the current moment is input to the first positioning module, and the first positioning module is used for matching the pose information of the target equipment and the point cloud of the optical sensor of the current moment in a global three-dimensional point cloud characteristic map and outputting the positioning result of the target equipment.
8. The method of claim 7, wherein the step of determining the position of the probe is performed,
in the process of acquiring the positioning information of the target device by using the first positioning module on the target device, the method further comprises: continuing to acquire the positioning information of the target equipment by using the second positioning module;
after continuing to acquire the location information of the target device using the second location module, the method further includes: and under the condition that the second positioning module is used for successfully acquiring the positioning information of the target equipment, stopping acquiring the positioning information of the target equipment by using the first positioning module.
9. The method of claim 7, further comprising, after obtaining the location information of the target device using a first location module on the target device:
under the condition that the first positioning module cannot successfully acquire the positioning information of the target equipment, acquiring the positioning information of the target equipment by using a laser odometer on the target equipment; or alternatively
And under the condition that the first positioning module cannot successfully acquire the positioning information of the target equipment continuously for a plurality of periods or exceeds a second preset time, acquiring the positioning information of the target equipment by using a laser odometer on the target equipment.
10. The method of claim 9, wherein the step of determining the position of the substrate comprises,
in the process of acquiring the positioning information of the target device by using the laser odometer on the target device, the method further comprises: continuing to acquire the positioning information of the target equipment by using the second positioning module;
after continuing to acquire the location information of the target device using the second location module, the method further includes: and under the condition that the second positioning module is used for successfully acquiring the positioning information of the target equipment, stopping using the laser odometer to acquire the positioning information of the target equipment.
11. The method according to any one of claims 7 to 10, wherein the obtaining location information of the target device using a second location module on the target device comprises:
acquiring the local point cloud map formed by the point cloud data sensed by the optical sensor when the target equipment travels a preset distance through the second positioning module;
performing point cloud segmentation on the object in the local point cloud map through the second positioning module to obtain a feature vector of point cloud data of the object;
matching the feature vector of the point cloud data of the object with the feature vector of the point cloud data of different objects in a pre-established map through the second positioning module so as to determine a target object corresponding to the object in the different objects;
and determining positioning information of the target equipment according to the position of the target object in the map through the second positioning module.
12. The method of any of claims 7 to 10, wherein the obtaining location information of the target device using a first location module on the target device, further comprises:
acquiring point cloud data sensed by the optical sensor through the first positioning module;
Performing feature matching on the point cloud data sensed by the optical sensor and the point cloud data of different objects in a pre-established map through the first positioning module to obtain the matching result;
and acquiring positioning information of the target equipment according to the matching result through the first positioning module.
13. A positioning apparatus for a target device, comprising:
the first acquisition module is used for acquiring positioning information of the target equipment by using a first positioning module on the target equipment in the moving process of the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment and acquiring the positioning information of the target equipment according to a feature vector of the point cloud data of the object;
the first detection module is used for detecting whether the first positioning module is continuous for a plurality of periods or exceeds a first preset time period and cannot successfully acquire the positioning information of the target equipment;
the second acquisition module is used for acquiring the positioning information of the target equipment by using the second positioning module on the target equipment under the condition that the first positioning module is detected to be continuous for a plurality of periods or exceeds the first preset time period and can not successfully acquire the positioning information of the target equipment, wherein the second positioning module is used for carrying out feature matching on the point cloud data sensed by the optical sensor and a point cloud data set acquired in advance and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching;
The device is further used for detecting a space distance and a time interval between the initial positioning and the positioning of the target equipment in the positioning information of the current moment after the initial positioning of the target equipment is determined, inputting a positioning result of the current moment to the first positioning module when the space distance is larger than a threshold value or the time interval is larger than a threshold value, and the first positioning module is used for matching the pose information of the target equipment and the point cloud of the optical sensor of the current moment in a global three-dimensional point cloud feature map and outputting a positioning result of the target equipment.
14. A positioning apparatus for a target device, comprising:
the third acquisition module is used for acquiring positioning information of the target equipment by using a second positioning module on the target equipment in the moving process of the target equipment, wherein the second positioning module is used for performing feature matching on the point cloud data sensed by the optical sensor on the target equipment and a point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching;
The second detection module is used for detecting whether the second positioning module is continuous for a plurality of periods or exceeds a second preset time period and cannot successfully acquire the positioning information of the target equipment;
a fourth obtaining module, configured to obtain, when it is detected that the second positioning module is capable of successfully obtaining the positioning information of the target device in the multiple periods or longer than the second predetermined period, the positioning information of the target device using a first positioning module on the target device, where the first positioning module is configured to perform point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target device, and obtain the positioning information of the target device according to a feature vector of the point cloud data of the object;
the device is further used for detecting a space distance and a time interval between the initial positioning and the positioning of the target equipment in the positioning information of the current moment after the initial positioning of the target equipment is determined, inputting a positioning result of the current moment to the first positioning module when the space distance is larger than a threshold value or the time interval is larger than a threshold value, and the first positioning module is used for matching the pose information of the target equipment and the point cloud of the optical sensor of the current moment in a global three-dimensional point cloud feature map and outputting a positioning result of the target equipment.
15. A storage medium having a computer program stored therein, wherein the computer program is arranged to perform the method of any of claims 1 to 6 at run-time or to perform the method of any of claims 7 to 12 at run-time.
16. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the method of any of the claims 1 to 6 or to run the computer program to perform the method of any of the claims 7 to 12.
CN201910755327.2A 2019-08-15 2019-08-15 Target equipment positioning method and device, storage medium and electronic device Active CN112393720B (en)

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