CN112529087A - Unmanned equipment positioning method and unmanned equipment - Google Patents
Unmanned equipment positioning method and unmanned equipment Download PDFInfo
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Abstract
The application relates to an unmanned equipment positioning method and unmanned equipment. Wherein the method comprises the following steps: acquiring position information of the current position of the unmanned equipment; detecting whether the current position has a target identifier; and if the target identification is detected, acquiring the position information of the target identification, and replacing the position information of the target identification with the position information of the current position of the unmanned equipment. According to the method, the unmanned equipment replaces the position information of the current position with the position information of the detected target identification, so that the unmanned equipment can bind the position information of the current position of the unmanned equipment with the position information of the target identification in real time in the positioning process, and the target identification is used as a reference to perform auxiliary correction on the positioning result, so that the unmanned equipment can be autonomously positioned, and meanwhile, the risks of position loss and positioning errors of the unmanned equipment are reduced.
Description
Technical Field
The application relates to the technical field of unmanned equipment positioning, in particular to an unmanned equipment positioning method and unmanned equipment.
Background
With the improvement of scientific and technical level and the rapid development of world economy, unmanned equipment is more and more widely applied to many industries, such as unmanned vehicles, unmanned planes, unmanned ships and the like, and is more and more widely used in the fields of distribution, logistics and the like. The unmanned equipment is supported by a high-precision positioning technology, and the safe and accurate operation of the unmanned equipment can be ensured only by accurate positioning information.
Currently, common unmanned equipment positioning technologies include a laser radar positioning method, an ultrasonic-based positioning and navigation method, a wireless-signal-based positioning and navigation method, and the like.
However, due to the measurement distance limitation of the laser radar, when the space is open, the surrounding environment has the same contour, and glass exists, the positioning error is easy to occur, and the positioning is lost; the positioning navigation technology based on the ultrasonic waves is easily influenced by the surrounding environment, the shadow of an obstacle, the rough surface and other external environments, and meanwhile, the propagation distance of the ultrasonic waves in the air is short, so that the application range is small, the distance measurement is short, the acquisition speed is low, and the navigation precision is poor. Therefore, the existing positioning mode of the unmanned equipment is insufficient in reliability and stability, and therefore the positioning of the unmanned equipment is not accurate enough. .
Disclosure of Invention
In view of the above, it is desirable to provide an unmanned device positioning method and an unmanned device capable of autonomously performing positioning and reducing risks of unmanned device loss and wrong positioning.
The application provides an unmanned equipment positioning method, which comprises the following steps:
acquiring position information of the current position of the unmanned equipment;
detecting whether the current position has a target identifier;
and if the target identification is detected, acquiring the position information of the target identification, and replacing the position information of the target identification with the position information of the current position of the unmanned equipment.
According to the unmanned equipment positioning method, when the unmanned equipment detects that the target mark exists at the current position, the position information of the current position is replaced by the position information of the detected target mark, so that the unmanned equipment can perform auxiliary correction on the positioning result by using the target mark as a reference in the positioning process, and the risks of position loss and positioning error of the unmanned equipment are reduced while the unmanned equipment is autonomously positioned.
In one embodiment, the obtaining of the location information of the current location of the unmanned aerial vehicle includes:
acquiring laser point cloud data of the surrounding environment of the current position of the unmanned equipment;
and matching the laser point cloud data with pre-stored map data to determine the position information of the current position of the unmanned equipment.
In the unmanned equipment positioning method, the unmanned equipment senses the surrounding environment of the current position of the unmanned equipment by acquiring the laser point cloud data of the surrounding environment of the current position of the unmanned equipment and intelligently processing the laser point cloud data; and matching the laser point cloud data with pre-stored map data to finish the initial positioning of the current position of the laser point cloud data.
In one embodiment, the target identifier is a visual identifier, and the detecting whether there is a target identifier in the current location includes:
acquiring an image of the surrounding environment of the current position;
and respectively matching the image with a plurality of visual identifiers stored in advance, judging that the target identifier exists at the current position if the matching is successful, and judging that the target identifier does not exist at the current position if the matching is not successful.
The target identification is adopted as the visual identification, and whether the visual identification exists in the current position is detected by respectively matching the image of the surrounding environment of the current position with the pre-stored visual identifications, wherein the target identification can be detected by utilizing a camera which cannot be configured by the equipment, so that the method is convenient to realize and does not need to increase extra cost.
In one embodiment, the acquiring, if a target identifier is detected, location information of the target identifier and replacing the location information of the target identifier with location information of a current location of the unmanned device includes:
acquiring the position information of the successfully matched visual identification, wherein the position information of the visual identification is prestored in a server or a memory of the unmanned equipment;
and replacing the position information of the visual identification with the position information of the current position of the unmanned equipment.
The position information of the current position of the unmanned equipment acquired through the laser point cloud data may have deviation or errors, and the accuracy and credibility of the position information of the visual identifier prestored in the server or the storage of the unmanned equipment can be ensured, so that the position information of the current position of the unmanned equipment is replaced by the position information of the visual identifier, the accuracy and credibility of the position information of the current position of the unmanned equipment can be ensured, and the function of auxiliary correction of the position information of the current position of the unmanned equipment is effectively achieved.
In one embodiment, the detecting whether the target identifier exists at the current position includes:
scanning the surrounding environment of the current position by using a two-dimensional code identification module of the unmanned equipment;
and if the two-dimensional code is successfully identified, judging that the target mark exists at the current position, otherwise, judging that the target mark does not exist.
The two-dimensional code is simple to install, does not need an external power supply to supply power, and is low in cost, and the unmanned equipment positioning method not only reduces the risks of position loss and positioning errors of the unmanned equipment by using the two-dimensional code as the target identification, but also saves the cost.
In one embodiment, the acquiring, if a target identifier is detected, location information of the target identifier and replacing the location information of the target identifier with location information of a current location of the unmanned device includes:
acquiring the digital label information of the successfully identified two-dimensional code;
and obtaining corresponding position information according to the digital label information, and replacing the corresponding position information with the position information of the current position of the unmanned equipment.
In one embodiment, the obtaining the corresponding location information according to the digital label information and replacing the corresponding location information with the location information of the current location of the unmanned aerial vehicle includes:
acquiring identification information from the digital label information, wherein the identification information comprises position information of the two-dimensional code;
acquiring the position information of the two-dimensional code from the identification information;
and replacing the position information of the two-dimensional code with the position information of the current position of the unmanned equipment.
In one embodiment, the obtaining the corresponding location information according to the digital label information and replacing the corresponding location information with the location information of the current location of the unmanned aerial vehicle includes:
acquiring position information corresponding to the digital label information, wherein the position information corresponding to the digital label information is prestored in a server or a memory of the unmanned equipment;
and replacing the position information corresponding to the digital label information with the position information of the current position of the unmanned equipment.
In one embodiment, the method for locating an unmanned aerial vehicle further includes:
if the position information is failed to be acquired in the step of acquiring the position information of the current position of the unmanned equipment, sending alarm information;
the unmanned equipment accepts remote control to move to a position with a target identifier;
and acquiring the position information of the target identifier, and taking the position information of the target identifier as the position information of the current position of the unmanned equipment.
In the unmanned equipment positioning method, when the unmanned equipment fails to acquire the position information and the primary positioning fails, alarm information is sent to inform operation and maintenance personnel or field personnel, the operation and maintenance personnel or the field personnel can remotely control the unmanned equipment to go to the position with the target identification, and the position information of the target identification is used as the position information of the current position of the unmanned equipment to complete the positioning. According to the method, the operation and maintenance personnel can adjust the lost unmanned equipment in time by sending the alarm information, so that the unmanned equipment is prevented from being lost or positioned wrongly.
The application also provides an unmanned equipment positioning method, which comprises the following steps:
acquiring position information of the current position of the unmanned equipment;
respectively matching the position information of the current position with a plurality of preset position information, wherein the plurality of position information are respectively bound with corresponding target identifications;
if the matching is successful, detecting whether the current position has a target identifier;
and if the target identification is not detected, sending alarm information.
According to the unmanned equipment positioning method, the coordinates of a place where unmanned equipment is easy to lose or fails to be positioned can be set as preset position information, when the unmanned equipment is successfully matched with the preset position information, whether a target mark exists at the current position or not is detected, the current position is bound with the corresponding target mark respectively, if the target mark is not detected, the fact that the position information of the current position acquired by the unmanned equipment is inaccurate can be known, the unmanned equipment is likely to be positioned wrongly or lost or has other problems, the unmanned equipment sends alarm information, and operation and maintenance personnel can timely adjust the lost unmanned equipment by sending the alarm information.
In one embodiment, the method for locating an unmanned aerial vehicle further comprises:
the unmanned equipment accepts remote control to move to a position with a target identifier;
and acquiring the position information of the target identifier, and taking the position information of the target identifier as the position information of the current position of the unmanned equipment.
By enabling the unmanned equipment to be remotely controlled to move to the position with the target identification and using the position information of the target identification as the position information of the current position of the unmanned equipment, the unmanned equipment can be remotely controlled to reposition the unmanned equipment by using the target identification when the unmanned equipment is possibly positioned wrongly or lost or has other problems.
In one embodiment, the obtaining of the location information of the current location of the unmanned aerial vehicle includes:
acquiring laser point cloud data of the surrounding environment of the current position of the unmanned equipment;
and matching the laser point cloud data with pre-stored map data to determine the position information of the current position of the unmanned equipment.
In one embodiment, the target identifier is a visual identifier, and if the matching is successful, detecting whether there is a target identifier in the current location includes:
acquiring an image of the surrounding environment of the current position;
and respectively matching the image with a plurality of visual identifiers stored in advance, judging that the target identifier exists at the current position if the matching is successful, and judging that the target identifier does not exist at the current position if the matching is not successful.
In one embodiment, the obtaining the location information of the target identifier and using the location information of the target identifier as the location information of the current location of the unmanned device includes:
acquiring the position information of the successfully matched visual identification, wherein the position information of the visual identification is prestored in a server or a memory of the unmanned equipment;
and taking the position information of the visual identification as the position information of the current position of the unmanned equipment.
In one embodiment, the detecting whether the target identifier exists at the current position includes:
scanning the surrounding environment of the current position by using a two-dimensional code identification module of the unmanned equipment;
and if the two-dimensional code is successfully identified, judging that the target mark exists at the current position, otherwise, judging that the target mark does not exist.
In one embodiment, the obtaining the location information of the target identifier and replacing the location information of the target identifier with the location information of the current location of the unmanned device includes:
acquiring the digital label information of the successfully identified two-dimensional code;
and obtaining corresponding position information according to the digital label information, and replacing the corresponding position information with the position information of the current position of the unmanned equipment.
In one embodiment, the obtaining the corresponding location information according to the digital label information and replacing the corresponding location information with the location information of the current location of the unmanned aerial vehicle includes:
acquiring identification information from the digital label information, wherein the identification information records the position information of the two-dimensional code;
acquiring the position information of the two-dimensional code from the identification information;
and replacing the position information of the two-dimensional code with the position information of the current position of the unmanned equipment.
In one embodiment, the obtaining the corresponding location information according to the digital label information and replacing the corresponding location information with the location information of the current location of the unmanned aerial vehicle includes:
acquiring position information corresponding to the digital label information, wherein the position information corresponding to the digital label information is prestored in a server or a memory of the unmanned equipment;
and replacing the position information corresponding to the digital label information with the position information of the current position of the unmanned equipment.
The present application further provides an unmanned aerial vehicle, the unmanned aerial vehicle includes:
an unmanned device main body;
the detection device is positioned on the unmanned equipment main body and used for detecting whether the current position of the unmanned equipment has a target mark or not;
and the control device is connected with the detection device and used for acquiring the position information of the current position of the unmanned equipment, detecting whether the current position has a target identifier or not, acquiring the position information of the target identifier if the target identifier is detected, and replacing the position information of the target identifier with the position information of the current position of the unmanned equipment.
The present application further provides an unmanned aerial vehicle, the unmanned aerial vehicle includes:
an unmanned device main body;
the detection device is positioned on the unmanned equipment main body and used for detecting whether the current position of the unmanned equipment has a target mark or not;
and the control device is connected with the detection device and used for acquiring the position information of the current position of the unmanned equipment, respectively matching the position information of the current position with a plurality of preset position information, detecting whether the current position has a target identifier if the matching is successful, and sending alarm information if the target identifier is not detected.
The present application further provides an unmanned aerial vehicle positioning system, including the unmanned aerial vehicle described in any of the above embodiments and a plurality of target identifiers preset in an environment where the unmanned aerial vehicle executes a task.
In the unmanned equipment positioning method, the unmanned equipment can bind the position information of the current position of the unmanned equipment and the position information of the target identification in real time in the positioning process by replacing the position information of the current position with the position information of the detected target identification, so that the positioning result is corrected in an auxiliary manner by using the target identification as a reference, and the risks of position loss and positioning errors of the unmanned equipment are reduced while the unmanned equipment is autonomously positioned.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIGS. 1-6 are flow diagrams of a method for unmanned device positioning provided in some embodiments of the present application;
fig. 7A and 7B are schematic diagrams of an unmanned device and an unmanned positioning system provided in some embodiments of the present application.
Description of reference numerals:
1-unmanned equipment, 10-unmanned equipment body, 11-detection device, 12-control device and 2-target identification.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", or the like, if there is a transfer of electrical signals or data between the connected objects.
As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.
As described in the background art, the reliability and stability of the existing positioning method of the unmanned device in the prior art are not sufficient, and the positioning of the unmanned device is not accurate enough, and the inventor researches and discovers that the problem is caused because the positioning information source of the unmanned device is single, and when the space is clear, the surrounding environment contour is identical, and glass is easy to appear, the problems of positioning error, positioning loss and the like are often caused.
For the above reasons, the present application provides a method for positioning an unmanned aerial vehicle, please refer to fig. 1, the method includes the following steps:
s10: acquiring position information of the current position of the unmanned equipment;
s11: detecting whether the current position has a target identifier;
s12: and if the target identification is detected, acquiring the position information of the target identification, and replacing the position information of the target identification with the position information of the current position of the unmanned equipment.
According to the unmanned equipment positioning method, when the unmanned equipment detects that the target identification exists at the current position, the unmanned equipment replaces the position information of the current position with the position information of the detected target identification, so that the unmanned equipment can perform auxiliary correction on a positioning result by using the target identification as a reference in the positioning process, and the risks of position loss and positioning error of the unmanned equipment are reduced while the unmanned equipment is autonomously positioned.
Optionally, the target identifier may be set at a position where the unmanned device passes through at a high frequency during operation or a position where the unmanned device is easy to lose, so that the unmanned device can identify the target identifier each time the unmanned device passes through the positions, and bind the position information of the current position of the unmanned device with the position information of the target identifier, thereby playing a role in position resetting.
Referring to fig. 2, in one embodiment, step S10 specifically includes:
s100: acquiring laser point cloud data of the surrounding environment of the current position of the unmanned equipment;
s101: and matching the laser point cloud data with pre-stored map data to determine the position information of the current position of the unmanned equipment.
The map data stored in advance may be ambient distance information, ambient image information, and the like, and the type and the number of the map data are not limited in this embodiment.
In the unmanned equipment positioning method, the unmanned equipment senses the surrounding environment of the current position of the unmanned equipment by acquiring the laser point cloud data of the surrounding environment of the current position of the unmanned equipment and intelligently processing the laser point cloud data; and matching the laser point cloud data with pre-stored map data to finish the initial positioning of the current position of the laser point cloud data.
In one embodiment, the target identifier is a visual identifier. In this embodiment, step S11 specifically includes:
acquiring an image of the surrounding environment of the current position;
and respectively matching the image with a plurality of visual identifiers stored in advance, judging that the target identifier exists at the current position if the matching is successful, and judging that the target identifier does not exist at the current position if the matching is not successful.
The target identification is adopted as the visual identification, and whether the visual identification exists in the current position is detected by respectively matching the image of the surrounding environment of the current position with the pre-stored visual identifications, wherein the target identification can be detected by utilizing a camera which cannot be configured by the equipment, so that the method is convenient to realize and does not need to increase extra cost.
In one embodiment, as shown in fig. 4, step S12 may specifically include:
s120: acquiring the position information of the successfully matched visual identification, wherein the position information of the visual identification is prestored in a server or a memory of the unmanned equipment;
s121: and replacing the position information of the visual identification with the position information of the current position of the unmanned equipment.
The position information of the current position of the unmanned equipment acquired through the laser point cloud data may have deviation or errors, and the accuracy and credibility of the position information of the visual identifier prestored in the server or the storage of the unmanned equipment can be ensured, so that the position information of the current position of the unmanned equipment is replaced by the position information of the visual identifier, the accuracy and credibility of the position information of the current position of the unmanned equipment can be ensured, and the function of auxiliary correction of the position information of the current position of the unmanned equipment is effectively achieved.
In one embodiment, the target identifier is a two-dimensional code, and step S11 in this embodiment may specifically include:
scanning the surrounding environment of the current position by using a two-dimensional code identification module of the unmanned equipment;
and if the two-dimensional code is successfully identified, judging that the target mark exists at the current position, otherwise, judging that the target mark does not exist.
The two-dimensional code is simple to install, does not need an external power supply to supply power, and is low in cost, and the unmanned equipment positioning method not only reduces the risks of position loss and positioning errors of the unmanned equipment by using the two-dimensional code as the target identification, but also saves the cost. Optionally, the target identifier in the present application may be a two-dimensional code, a barcode, or an OCR character, and the present application does not limit the kind of the target identifier.
In one embodiment, step S12 may specifically include:
acquiring the digital label information of the successfully identified two-dimensional code;
and obtaining corresponding position information according to the digital label information, and replacing the corresponding position information with the position information of the current position of the unmanned equipment.
In one embodiment, the obtaining the corresponding location information according to the digital label information and replacing the corresponding location information with the location information of the current location of the unmanned aerial vehicle includes:
acquiring identification information from the digital label information, wherein the identification information comprises position information of the two-dimensional code;
acquiring the position information of the two-dimensional code from the identification information;
and replacing the position information of the two-dimensional code with the position information of the current position of the unmanned equipment.
Optionally, the obtaining, according to the digital tag information, corresponding location information, and replacing the corresponding location information with location information of the current location of the unmanned aerial vehicle may further include:
acquiring position information corresponding to the digital label information, wherein the position information corresponding to the digital label information is prestored in a server or a memory of the unmanned equipment;
and replacing the position information corresponding to the digital label information with the position information of the current position of the unmanned equipment.
Further, referring to fig. 5, after step S10, the method for locating an unmanned aerial vehicle may further include:
s13: if the position information is failed to be acquired in the step of acquiring the position information of the current position of the unmanned equipment, sending alarm information;
s14: the unmanned equipment accepts remote control to move to a position with a target identifier;
s15: and acquiring the position information of the target identifier, and taking the position information of the target identifier as the position information of the current position of the unmanned equipment.
In the unmanned equipment positioning method, when the unmanned equipment fails to acquire the position information and the primary positioning fails, alarm information is sent to inform operation and maintenance personnel or field personnel, the operation and maintenance personnel or the field personnel can remotely control the unmanned equipment to go to the position with the target identification, and the position information of the target identification is used as the position information of the current position of the unmanned equipment to complete the positioning. According to the method, the operation and maintenance personnel can adjust the lost unmanned equipment in time by sending the alarm information, so that the unmanned equipment is prevented from being lost or positioned wrongly.
Optionally, this application can send alarm information through the mode that the display screen shows, can also send alarm information through the mode of pronunciation or vibrations, and this application does not do the restriction to the mode of how to send alarm information and the type of alarm information.
Referring to fig. 6, the present application further provides a method for positioning an unmanned aerial vehicle, including the following steps:
s20: acquiring position information of the current position of the unmanned equipment;
s21: respectively matching the position information of the current position with a plurality of preset position information, wherein the plurality of position information are respectively bound with corresponding target identifications;
s22: if the matching is successful, detecting whether the current position has a target identifier;
s23: and if the target identification is not detected, sending alarm information.
According to the unmanned equipment positioning method, the coordinates of a place where the unmanned equipment is easy to lose or fails in positioning can be set as preset position information, when the unmanned equipment is successfully matched with the preset position information, namely the unmanned equipment is in an environment where the unmanned equipment is easy to lose or fails in positioning, by detecting whether the current position has a target mark or not, due to the fact that the target marks are bound with the position information, if the target mark is not detected, it can be known that the position information of the current position acquired by the unmanned equipment is inaccurate at the moment, the unmanned equipment possibly has positioning errors or is lost or has other problems, the unmanned equipment sends alarm information, and by sending the alarm information, operation and maintenance personnel can timely adjust the lost unmanned equipment.
In one embodiment, step S23 is followed by:
the unmanned equipment accepts remote control to move to a position with a target identifier;
and acquiring the position information of the target identifier, and taking the position information of the target identifier as the position information of the current position of the unmanned equipment.
By enabling the unmanned equipment to be remotely controlled to move to the position with the target identification and using the position information of the target identification as the position information of the current position of the unmanned equipment, the unmanned equipment can be remotely controlled to reposition the unmanned equipment by using the target identification when the unmanned equipment is possibly positioned wrongly or lost or has other problems.
In one embodiment, step S20 may specifically include:
acquiring laser point cloud data of the surrounding environment of the current position of the unmanned equipment;
and matching the laser point cloud data with pre-stored map data to determine the position information of the current position of the unmanned equipment.
In one embodiment, the target identifier is a visual identifier, and step S22 in this embodiment may specifically include:
acquiring an image of the surrounding environment of the current position;
and respectively matching the image with a plurality of visual identifiers stored in advance, judging that the target identifier exists at the current position if the matching is successful, and judging that the target identifier does not exist at the current position if the matching is not successful.
In one embodiment, the obtaining of the location information of the target identifier and using the location information of the target identifier as the location information of the current location of the unmanned aerial vehicle specifically includes:
acquiring the position information of the successfully matched visual identification, wherein the position information of the visual identification is prestored in a server or a memory of the unmanned equipment;
and taking the position information of the visual identification as the position information of the current position of the unmanned equipment.
In one embodiment, the target identifier is a two-dimensional code, and step S22 in this embodiment may specifically include:
scanning the surrounding environment of the current position by using a two-dimensional code identification module of the unmanned equipment;
and if the two-dimensional code is successfully identified, judging that the target mark exists at the current position, otherwise, judging that the target mark does not exist.
In one embodiment, the obtaining of the location information of the target identifier and replacing the location information of the target identifier with the location information of the current location of the unmanned aerial vehicle specifically include:
acquiring the digital label information of the successfully identified two-dimensional code;
and obtaining corresponding position information according to the digital label information, and replacing the corresponding position information with the position information of the current position of the unmanned equipment.
In one embodiment, the obtaining of the corresponding location information according to the digital tag information and replacing the corresponding location information with the location information of the current location of the unmanned aerial vehicle specifically include:
acquiring identification information from the digital label information, wherein the identification information records the position information of the two-dimensional code;
acquiring the position information of the two-dimensional code from the identification information;
and replacing the position information of the two-dimensional code with the position information of the current position of the unmanned equipment.
Optionally, obtaining corresponding location information according to the digital tag information, and replacing the corresponding location information with the location information of the current location of the unmanned aerial vehicle, may further include:
acquiring position information corresponding to the digital label information, wherein the position information corresponding to the digital label information is prestored in a server or a memory of the unmanned equipment;
and replacing the position information corresponding to the digital label information with the position information of the current position of the unmanned equipment.
The present application also provides an unmanned aerial vehicle 1, as shown in fig. 7A and 7B, including:
an unmanned device main body 10;
the detection device 11 is positioned on the unmanned equipment main body 10 and used for detecting whether the current position of the unmanned equipment 1 has the target mark 2;
and the control device 12 is connected with the detection device and is used for acquiring the position information of the current position of the unmanned equipment 1, detecting whether the current position has the target identifier 2 or not, acquiring the position information of the target identifier 2 if the target identifier 2 is detected, and replacing the position information of the target identifier 2 with the position information of the current position of the unmanned equipment 1.
The present application also provides an unmanned aerial device 1, please continue to refer to fig. 7A and 7B, including:
an unmanned device main body 10;
the detection device 11 is positioned on the unmanned equipment main body 10 and used for detecting whether the current position of the unmanned equipment 1 has the target mark 2;
the control device 12 is connected to the detection device 11, and specifically, the control device 12 is electrically connected or communicatively connected to the detection device 11. The control device 12 is configured to obtain position information of a current position of the unmanned aerial vehicle 1, match the position information of the current position with a plurality of preset position information, detect whether the current position has the target identifier 2 if the matching is successful, and send out alarm information if the target identifier 2 is not detected.
Wherein the target 2 may be a visual marker, such as shown in fig. 7A, and the visual marker may be a marker having a specific shape. In other embodiments, the target identifier 2 may be a two-dimensional code, such as shown in fig. 7B. Furthermore, the object identifier 2 is also a bar code or other label from which information can be read. The target identifier 2 may also be an electronic tag, also called RFID (Radio Frequency Identification).
Optionally, the control device may include a laser radar module for scanning and acquiring the position information of the current position of the unmanned aerial vehicle 1 to complete the primary positioning, and the laser radar module has a small size, a light weight, a relatively simple structure, and is convenient to maintain and particularly suitable for the unmanned aerial vehicle which is in motion for a long time. Optionally, the position information of the current position of the unmanned aerial vehicle 1 may also be obtained by using ultrasonic waves or a sensor, and the like, and the method for obtaining the position information of the current position of the unmanned aerial vehicle 1 is not limited in the present application.
Optionally, the detection device 11 may be a camera, and is configured to scan and acquire information of the target identifier 2, and meanwhile, an operation and maintenance worker or a field worker may observe a change of a working environment of the unmanned equipment 1 through the camera; the detection device 11 can be arranged in the front, rear, left and right directions of the unmanned equipment 1, so that the unmanned equipment 1 can reliably identify the target identifier 2 in the working process; the detection device 11 can also be provided with an infrared lamp and/or a light intensity sensor, when the low ambient light intensity is detected, the infrared lamp is turned on to supplement light for the detection device 11, and the reliable identification of the target mark 2 in a dark night environment is realized; the detection device 11 may be connected to the control device 12 through a USB hub, so that the occupation of the USB port is reduced, and further, the detection device 11 may be externally connected to a power supply through the USB hub, so as to ensure that the power supply of the detection device 11 is sufficient. In short, the present application does not limit the type, position, and connection method of the detection device 11.
Preferably, the target 2 may be located at the same height as the detecting means 11 to facilitate reliable recognition by the detecting means 11. The present application does not limit the position of the target 2.
The application also provides an unmanned equipment positioning system, which comprises the unmanned equipment 1 in any embodiment and a plurality of target identifications 2 preset in the environment where the unmanned equipment executes tasks.
In the unmanned equipment positioning method, the unmanned equipment can bind the position information of the current position of the unmanned equipment and the position information of the target identification in real time in the positioning process by replacing the position information of the current position with the position information of the detected target identification, so that the positioning result is corrected in an auxiliary manner by using the target identification as a reference, and the risks of position loss and positioning errors of the unmanned equipment are reduced while the unmanned equipment is autonomously positioned.
It should be understood that although the various steps in the flowcharts of fig. 1-6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-6 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
In the description herein, references to the description of the terms "some embodiments," "one embodiment," "other embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An unmanned device positioning method, the method comprising:
acquiring position information of the current position of the unmanned equipment;
detecting whether the current position has a target identifier;
and if the target identification is detected, acquiring the position information of the target identification, and replacing the position information of the target identification with the position information of the current position of the unmanned equipment.
2. The method according to claim 1, wherein the target identifier is a visual identifier, and the detecting whether the target identifier exists in the current position comprises:
acquiring an image of the surrounding environment of the current position;
and respectively matching the image with a plurality of visual identifiers stored in advance, judging that the target identifier exists at the current position if the matching is successful, and judging that the target identifier does not exist at the current position if the matching is not successful.
3. The method according to claim 2, wherein if a target identifier is detected, acquiring location information of the target identifier and replacing the location information of the target identifier with location information of a current location of the unmanned aerial vehicle comprises:
acquiring the position information of the successfully matched visual identification, wherein the position information of the visual identification is prestored in a server or a memory of the unmanned equipment;
and replacing the position information of the visual identification with the position information of the current position of the unmanned equipment.
4. The method according to claim 1, wherein the target identifier is a two-dimensional code, and the detecting whether the target identifier exists at the current position includes:
scanning the surrounding environment of the current position by using a two-dimensional code identification module of the unmanned equipment;
and if the two-dimensional code is successfully identified, judging that the target mark exists at the current position, otherwise, judging that the target mark does not exist.
5. The method according to claim 4, wherein if a target identifier is detected, acquiring location information of the target identifier and replacing the location information of the target identifier with location information of a current location of the unmanned aerial vehicle comprises:
acquiring the digital label information of the successfully identified two-dimensional code;
and obtaining corresponding position information according to the digital label information, and replacing the corresponding position information with the position information of the current position of the unmanned equipment.
6. The method for positioning the unmanned aerial vehicle of claim 5, wherein the obtaining the corresponding position information according to the digital label information and replacing the corresponding position information with the position information of the current position of the unmanned aerial vehicle comprises:
acquiring identification information from the digital label information, wherein the identification information comprises position information of the two-dimensional code;
acquiring the position information of the two-dimensional code from the identification information;
and replacing the position information of the two-dimensional code with the position information of the current position of the unmanned equipment.
7. An unmanned device positioning method, the method comprising:
acquiring position information of the current position of the unmanned equipment;
respectively matching the position information of the current position with a plurality of preset position information, wherein the plurality of position information are respectively bound with corresponding target identifications;
if the matching is successful, detecting whether the current position has a target identifier;
and if the target identification is not detected, sending alarm information.
8. The drone positioning method of claim 7, further comprising:
accepting a remote control to move to a location having a target identification;
and acquiring the position information of the target identifier, and taking the position information of the target identifier as the position information of the current position of the unmanned equipment.
9. An unmanned device, comprising:
an unmanned device main body;
the detection device is positioned on the unmanned equipment main body and used for detecting whether the current position of the unmanned equipment has a target mark or not;
and the control device is connected with the detection device and used for acquiring the position information of the current position of the unmanned equipment, detecting whether the current position has a target identifier or not, acquiring the position information of the target identifier if the target identifier is detected, and replacing the position information of the target identifier with the position information of the current position of the unmanned equipment.
10. An unmanned device, comprising:
an unmanned device main body;
the detection device is positioned on the unmanned equipment main body and used for detecting whether the current position of the unmanned equipment has a target mark or not;
and the control device is connected with the detection device and used for acquiring the position information of the current position of the unmanned equipment, detecting whether the current position has a target identifier or not, acquiring the position information of the target identifier if the target identifier is detected, and replacing the position information of the target identifier with the position information of the current position of the unmanned equipment.
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| CN202011493598.4A CN112529087A (en) | 2020-12-16 | 2020-12-16 | Unmanned equipment positioning method and unmanned equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106989746A (en) * | 2017-03-27 | 2017-07-28 | 远形时空科技（北京）有限公司 | Air navigation aid and guider |
| CN110017841A (en) * | 2019-05-13 | 2019-07-16 | 大有智能科技(嘉兴)有限公司 | Vision positioning method and its air navigation aid |
| CN211506262U (en) * | 2020-05-06 | 2020-09-15 | 杭州电子科技大学 | Navigation system based on visual positioning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106989746A (en) * | 2017-03-27 | 2017-07-28 | 远形时空科技（北京）有限公司 | Air navigation aid and guider |
| CN110017841A (en) * | 2019-05-13 | 2019-07-16 | 大有智能科技(嘉兴)有限公司 | Vision positioning method and its air navigation aid |
| CN211506262U (en) * | 2020-05-06 | 2020-09-15 | 杭州电子科技大学 | Navigation system based on visual positioning |
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