CN112753213A

CN112753213A - Target positioning method, movable platform and storage medium

Info

Publication number: CN112753213A
Application number: CN202080005071.4A
Authority: CN
Inventors: 许中研; 吴博; 钱杰; 郭晓东
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-04-26
Filing date: 2020-04-26
Publication date: 2021-05-04
Also published as: WO2021217312A1

Abstract

An object positioning method, a movable platform and a storage medium, the method includes determining a reference plane where a positioning object is located according to position information of the positioning object of a first detection device (S110); correcting position information of a positioning target of the second detecting means according to the reference plane (S120); when the first detecting means fails, the target position is determined based on the corrected position information of the second detecting means (S130). The method can prevent sudden position change when switching the detection device to determine the target position.

Description

Target positioning method, movable platform and storage medium

Technical Field

The embodiment of the application relates to the technical field of positioning, in particular to a target positioning method, a movable platform and a storage medium.

Background

In some scenarios, the position of the target needs to be measured, and the position of the target may be determined by a detection device such as a monocular camera, a binocular camera, a laser radar, and the like. The precision and effective range of different detection devices are different. When one detection device fails and is switched to another detection device to determine the position of the target, the determined position of the target is easy to generate sudden change, and the execution of a task is influenced. For example, in a scene that the movable platform moves along with the target, when the target position changes suddenly, the movable platform may be improperly close to or far away from the target, which not only affects the user experience, but also has a safety problem.

Disclosure of Invention

Based on this, embodiments of the present application provide a target positioning method, a movable platform, and a storage medium, which are intended to solve the technical problem that when a certain detection device fails and switches to another detection device to determine the position of a target, the determined position of the target is prone to sudden change, and the like.

In a first aspect, an embodiment of the present application provides a target positioning method, which is used for a movable platform, where the movable platform is equipped with a first detection device and a second detection device, and the method includes:

determining a reference surface where the positioning target is located according to the position information of the positioning target acquired by the first detection device;

correcting the position information of the positioning target acquired by the second detection device according to the reference surface;

and when the first detection device fails, determining the target position of the positioning target according to the corrected position information of the positioning target acquired by the second detection device.

In a second aspect, embodiments of the present application provide a movable platform, where the movable platform can carry a first detection device and a second detection device;

the movable platform includes one or more processors, working individually or collectively, to perform the steps of:

In a third aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the processor is caused to implement the above-mentioned method.

The embodiment of the application provides a target positioning method, a movable platform and a storage medium, wherein a reference surface is determined according to position information of a positioning target obtained by a first detection device, the position information obtained by a second detection device is corrected according to the reference surface, when the first detection device fails, the target position of the positioning target is determined according to the position information of the positioning target obtained by the second detection device after correction, and when a certain detection device fails and is switched to another detection device to determine the position of the target, the determined target position is not easy to generate sudden change and is smoother.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure as claimed.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic flowchart of a target positioning method according to an embodiment of the present application;

FIG. 2 is a schematic view of a scenario provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of a reference plane determined according to a position obtained by a first detecting device according to an embodiment of the present application;

FIG. 4 is a schematic diagram illustrating a reference plane determined according to a first position variation provided by an embodiment of the present application;

FIG. 5 is a schematic diagram illustrating a position obtained by the second detecting device according to a reference plane according to an embodiment of the present application;

FIG. 6a is a schematic diagram illustrating updating a reference plane according to a second position variation according to an embodiment of the present application;

FIG. 6b is a diagram illustrating an example of updating a reference plane according to a modified second position change according to the present application;

FIG. 7 is a schematic block diagram of a movable platform provided by an embodiment of the present application;

fig. 8 is a schematic block diagram of an unmanned aerial vehicle according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Referring to fig. 1, fig. 1 is a schematic flowchart illustrating a target positioning method according to an embodiment of the present disclosure.

The target positioning method may be applied to a movable platform, and of course, may also be applied to a terminal device capable of communicating with the movable platform, or the target positioning method may be performed by both the movable platform and the terminal device. The target positioning method is used for determining the position of a positioning target and the like.

Wherein the movable platform may comprise at least one of: cloud platform, unmanned vehicles or unmanned ships and light boats. Further, unmanned vehicles can be rotor-type unmanned aerial vehicles, such as quad-rotor unmanned aerial vehicles, hexa-rotor unmanned aerial vehicles, and octa-rotor unmanned aerial vehicles, and also can be fixed-wing unmanned aerial vehicles. The terminal equipment can comprise at least one of a mobile phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, wearable equipment, a remote controller and the like;

the present application mainly takes a target positioning method applied in a movable platform as an example for explanation.

In some embodiments, as shown in fig. 2, the movable platform 100 carries a camera 200, and the camera 200 can acquire images of objects in the field of view, such as people, animals, vehicles, ships, and the like.

For example, the movable platform 100 can determine the position of the positioning target 101 to perform tasks such as automatic shooting, autonomous searching, monitoring and tracking, automatic inspection and the like on the positioning target 101.

Specifically, one or more positioning targets 101 may be determined in the image captured by the capturing device 200, and it is understood that the positioning targets 101 may be, for example, people, animals, vehicles, ships, and the like.

For example, the movable platform 100 can determine the positioning target 101 in the image, for example, when a human body is detected in the image, the human body is determined as the positioning target 101; or when a plurality of human bodies are detected in the image, one or more of the human bodies may be determined as the positioning target 101.

For example, the movable platform 100 can send an image to the terminal device 300 communicatively connected to the movable platform 100, the terminal device 300 can display the image sent by the movable platform 100 and determine that an object corresponding to a selection operation is the positioning target 101 according to the selection operation of the user on the object in the image, and the terminal device 300 can send information of the positioning target 101 to the movable platform 100.

Illustratively, the terminal device 300 is carried by a user, and the movable platform 100 is capable of determining the user of the orientation as the positioning target 101 by detecting the orientation of the terminal device 300.

Specifically, the movable platform is provided with a first detection device and a second detection device.

It should be noted that the descriptions relating to "first", "second", etc. in the embodiments of the present application are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

In some embodiments, the first and second detection devices comprise at least two of: monocular camera, binocular camera, radar, GPS device. Of course, the first detection device and the second detection device may also comprise other sensors capable of directly or indirectly measuring the position of the positioning target.

Specifically, the monocular camera can calculate the target distance by using the prior target scale information and the target scale of the positioning target in the camera image through the pinhole imaging principle, so as to obtain the position of the positioning target. The binocular camera comprises a left camera and a right camera, the depth of each pixel can be estimated by synchronously acquiring images of the left camera and the right camera and calculating the parallax between the images, and the depth of the area where the positioning target is located is extracted from the images, so that the position of the positioning target is obtained. The movable platform can determine the relative distance and direction between the positioning target and the movable platform according to the carried GPS device and the GPS device carried by the positioning target, so as to acquire the position of the positioning target. The radar may be, for example, a laser radar, which emits a short pulse laser beam or a series of short pulse laser beams to the positioning target when in operation, receives the laser beam reflected by the target by the photoelectric element, measures the time from the emission to the reception of the laser beam by the timer, and calculates the distance from the radar to the positioning target, thereby obtaining the position of the positioning target.

For example, the movable platform carries a monocular camera as the first detection device and a radar as the second detection device. For example, the movable platform carries a monocular camera as the first detecting device and a binocular camera as the second detecting device. For example, when the movable platform is equipped with a monocular camera, a radar, and a GPS device, the radar serves as the first detection device, and the monocular camera or the GPS device serves as the second detection device.

Illustratively, the priority of the first probe device is greater than the priority of the second probe device. It will be appreciated that the detection result of the first detection means may be used preferentially and that the detection result of the second detection means may be switched to when the first detection means fails.

Specifically, the priorities of different probe devices may be set in advance, and the first probe device and the second probe device may be determined according to the respective priorities of a plurality of probe devices mounted on the movable platform.

Illustratively, the detection accuracy of the first detection device is greater than the detection accuracy of the second detection device.

Illustratively, the detection precision of the radar is greater than that of a binocular camera, the detection precision of the binocular camera is greater than that of a monocular camera, and the radar is determined to be a first detection device, and the binocular camera or the monocular camera is determined to be a second detection device.

As shown in fig. 1, the target positioning method of the embodiment of the present application includes steps S110 to S130.

S110, determining a reference surface where the positioning target is located according to the position information of the positioning target obtained by the first detection device.

For example, as shown in fig. 3, the position of the positioning target obtained by the first detecting device is XA1, and the reference plane 1 where the positioning target is located may be determined according to the position XA 1.

For example, the coordinates of the position of the positioning target in the preset direction are determined, and the position of the reference plane can be determined according to the coordinates.

In some embodiments, the predetermined direction is a direction of gravity. As shown in fig. 3, the reference surface may be a ground surface on which the positioning target is located, and the height of the reference surface may be determined according to coordinates of the position of the positioning target in the preset direction.

In other embodiments, the reference plane may also be determined according to the moving direction of the positioning target. For example, the reference plane may be a reference plane perpendicular to the moving direction of the positioning target, or a reference plane perpendicular to the horizontal plane and parallel to the moving direction of the positioning target.

In some embodiments, the step S110 of determining a reference plane where the positioning target is located according to the position information of the positioning target obtained by the first detecting device includes: acquiring an initial reference surface where the positioning target is located; and determining a reference surface where the positioning target is located according to the initial reference surface and the position information of the positioning target acquired by the first detection device.

Illustratively, the reference surface includes a plane and/or a curved surface. By way of illustration, as shown in fig. 4, the initial reference plane and the current reference plane where the positioning target is currently located are both planes.

Specifically, the variation trend of the reference surface position may be determined according to the position information of the positioning target acquired by the first detection device. In some embodiments, the reference plane may be updated according to the variation trend to determine a current reference plane where the positioning target is located at the current time, and the reference plane where the positioning target is located at the next time may also be predicted.

For example, the determining the reference plane where the positioning target is located according to the initial reference plane and the position information of the positioning target obtained by the first detecting device includes: determining a first position variation of the positioning target in a preset direction according to the position information of the positioning target acquired by the first detection device; and determining the reference surface where the positioning target is located according to the initial reference surface and the first position variation.

For example, as shown in fig. 4, an initial reference plane where the positioning target is located may be determined according to the position XA1 of the positioning target at the historical time; the method comprises the steps of acquiring a position X2 of a positioning target at the current moment, determining a first position variation A12 of the positioning target in a preset direction according to the position X2 of the positioning target at the current moment and the position XA1 of the positioning target at the historical moment, and moving an initial reference surface along the preset direction according to the first position variation A12 to obtain a current reference surface where the positioning target is located at the current moment.

In some embodiments, the position information of the positioning target obtained by the first detecting device includes a first position variation of the positioning target in a preset direction, and a reference plane where the positioning target is located may be determined according to the first position variation and an initial reference plane.

And S120, correcting the position information of the positioning target acquired by the second detection device according to the reference surface.

For example, as shown in fig. 3 and fig. 5, at a certain time, the position where the second detection device acquires the positioning target is the position XB 1. Referring to fig. 3, there is usually a difference between the position XA1 of the positioning object obtained by the first detecting means and the position XB1 of the positioning object obtained by the second detecting means, because the detection accuracy of the first detecting means and the second detecting means are different. The position XB1 acquired by the second probe corresponds to the positioning target being on the plane B1 and the position XA1 acquired by the first probe corresponds to the positioning target being on the reference surface 1.

As shown in fig. 5, the position XB1 of the positioning object obtained by the second detecting device can be corrected according to the reference surface 1, so that the corrected position XB 1' of the positioning object corresponds to that the positioning object is also on the reference surface 1. Comparing fig. 3 and 5, it can be determined that the corrected position XB 1' of the positioning object is substantially the same as the position XA1 acquired by the first probe device, with a difference substantially less than the difference between the position XB1 acquired by the second probe device and the position XA1 acquired by the first probe device.

When the detection precision of the first detection device is higher than that of the second detection device, the position information of the positioning target acquired by the second detection device is corrected according to the reference plane, so that the corrected position information of the positioning target acquired by the second detection device is more accurate.

In some embodiments, the correcting the position information of the positioning target acquired by the second detecting device according to the reference plane includes: acquiring the detection direction of the second detection device; and correcting the position information of the positioning target acquired by the second detection device according to the detection direction and the reference surface.

The detection direction of the second detection device is generally accurate with low uncertainty, so that the position information of the positioning target acquired by the second detection device can be corrected according to the detection direction to improve accuracy.

For example, as shown in fig. 5, the detecting direction of the second detecting device is C1, and the corrected position information of the positioning target obtained by the second detecting device can be determined as the position XB 1' according to the detecting direction C1 and the reference plane 1.

Illustratively, the correcting the position information of the positioning target acquired by the second detecting device according to the detecting direction and the reference plane includes: acquiring rays which extend along the detection direction and take the position point of the movable platform as an end point; and determining the position information of the positioning target acquired by the second corrected detection device according to the intersection point of the ray and the reference surface.

As shown in fig. 5, an intersection XB 1' of the ray C1 extending in the detection direction and the reference plane 1 is determined as the corrected position of the positioning target acquired by the second detection apparatus.

In some embodiments, the first detection device and the second detection device are mounted on a pan-tilt, and the pan-tilt is mounted on a movable platform, so that the detection direction can be determined according to the posture of the pan-tilt.

And S130, when the first detection device fails, determining the target position of the positioning target according to the corrected position information of the positioning target acquired by the second detection device.

Illustratively, where the first probing apparatus comprises radar, the first probing apparatus failing comprises: the radar fails to emit a pulse laser beam toward the positioning target or receives no laser beam reflected from the positioning target.

Illustratively, when the first probe device comprises a GPS device, the first probe device failing comprises: the movable platform and/or the positioning target are shielded, and the GPS device cannot accurately position.

Illustratively, when the first detection device comprises a binocular camera, the first detection device being disabled comprises: the distance between the movable platform and the positioning target is far and exceeds the detection distance of the binocular camera.

Since the corrected position information of the positioning target acquired by the second detection device is substantially the same as the position information acquired by the first detection device, and the difference between the two is small, the determination of the target position of the positioning target based on the corrected position information of the positioning target acquired by the second detection device is substantially the same as the determination of the target position of the positioning target based on the position information of the positioning target acquired by the first detection device, and the difference between the two is small. When the detection accuracy of the first detection device is higher than that of the second detection device, the target position determined according to the corrected position information of the positioning target acquired by the second detection device is more accurate.

In some embodiments, when the first detection device is not disabled, the target position of the positioning target may be determined according to the position information of the positioning target acquired by the first detection device. For example, if the first detecting device does not fail before a certain time, as shown in fig. 3, the target position of the positioning object determined according to the position information of the positioning object obtained by the first detecting device is XA1, the target position of the positioning object determined according to the position information of the positioning object obtained by the second detecting device is XB1, and the target position XA1 detected by the first detecting device is adopted because the priority of the first detecting device is higher; at a certain time, the first detecting means fails, and as shown in fig. 5, the target position XB1 'determined from the position information of the positioning target acquired by the corrected second detecting means, and the difference between the target position XB 1' and the target position XA1 is small or 0, so that when the first detecting means fails and switches to the position at which the target is determined by the second detecting means, the determined target position is not likely to suddenly change.

By correcting the position information of the positioning target acquired by the second detection means based on the reference plane determined based on the position information of the positioning target acquired by the first detection means, the position information of the positioning target acquired by the second detection means can be corrected to the reference plane, and abrupt changes in the determined position of the target, particularly abrupt changes in a preset direction perpendicular to the reference plane, can be prevented. For example, when the preset direction is the gravity direction, when the first detection device fails, the height of the target position determined by the first detection device is the same as that of the target position determined by the second detection device after correction, which better accords with the actual situation that the position of the positioning target in the gravity direction does not change suddenly.

In some embodiments, the position information of the positioning target acquired by the second detecting means may be corrected based on the reference plane both when the first detecting means fails and when it does not fail. When the first detection device fails, the target position of the positioning target can be determined more quickly according to the corrected position information of the positioning target acquired by the second detection device.

In other embodiments, the step S120 of correcting the position information of the positioning target acquired by the second detecting device according to the reference plane includes: and when the first detection device fails, correcting the position information of the positioning target acquired by the second detection device according to the reference surface. The amount of calculation and the energy consumption can be reduced.

In some embodiments, after the first detection device fails, the method further comprises: updating the reference surface according to the position information of the positioning target acquired by the second detection device; and correcting the position information of the positioning target acquired by the second detection device according to the updated reference surface. The reference surface to be updated may be a reference surface determined when the first detection device fails, or a reference surface updated at a previous time according to the position information of the positioning target acquired by the second detection device.

Specifically, the variation trend of the reference surface position may be determined according to the position information of the positioning target acquired by the second detection device. In some embodiments, the reference plane may be updated according to the variation trend to determine the current reference plane where the positioning target is located at the current time, and the reference plane where the positioning target is located at the next time may also be predicted.

Illustratively, the updating the reference plane according to the position information of the positioning target acquired by the second detecting device includes: determining a second position variation of the positioning target in a preset direction according to the position information of the positioning target acquired by the second detection device; and updating the reference surface according to the second position variation.

For example, as shown in FIG. 6a, the positioning target walks on the ground indicated by the solid line, at the position X3 at the first time and at the position X4 at the second time. The reference surface determined at the first moment is the reference surface 3, and the position of the positioning target obtained by the second detection device is the XB 3; the position of the positioning object acquired by the second detecting device at the second moment is XB 4. And determining a second position variation B34 of the positioning target in the gravity direction according to the positions XB3 and XB4 acquired by the second detecting device at the first time and the second time. Moving the reference plane 3 upward in the gravity direction by B34 according to the second position variation B34 can obtain the reference plane 4 at the second time, i.e., the updated reference plane.

And determining a second position variation of the positioning target in the preset direction according to the position information of the second detection device, and updating the reference surface according to the second position variation, so that the reference surface can be updated along with the movement increment of the positioning target in the preset direction. And correcting the position information of the positioning target acquired by the second detection device according to the updated reference surface, so as to obtain a more accurate target position. And the reference surface is updated by using an incremental state updating mode, so that the state mutation caused by the switching of the information source due to the difference of the accuracies of the second detection device and the first detection device can be reduced.

Illustratively, the correcting the position information of the positioning target acquired by the second detecting device according to the updated reference plane includes: acquiring the detection direction of the second detection device; and correcting the position information of the positioning target acquired by the second detection device according to the detection direction and the updated reference surface.

For example, as shown in fig. 6a, at the second time, the detecting direction of the second detecting device is C4, and the corrected position information of the positioning target obtained by the second detecting device can be determined to be the position XB 4' according to the detecting direction C4 and the reference plane 4 obtained by updating the reference plane 3.

Illustratively, the correcting the position information of the positioning target acquired by the second detecting device according to the detecting direction and the updated reference plane includes: acquiring rays which extend along the detection direction and take the position point of the movable platform as an end point; and determining the corrected position information of the positioning target obtained by the second detection device according to the intersection point of the ray and the updated reference surface.

As shown in fig. 6a, an intersection XB 4' of the ray C4 extending in the detection direction and the reference plane 4 is determined as the corrected position of the positioning target acquired by the second detection device. As can be seen from fig. 6a, the deviation between the position information XB 4' of the positioning target obtained by the second detection device according to the updated reference plane correction and the real position X4 of the positioning target at the second moment is very small.

Thus, after the first detection device fails, the reference plane may be updated based on the position information of the positioning target acquired by the second detection device, and the position information of the positioning target acquired by the second detection device may be corrected based on the updated reference plane.

Since the reference surface is determined according to the position information of the positioning target acquired by the first detection device before and when the first detection device fails, the reference surface updated according to the position information of the positioning target acquired by the second detection device after the first detection device fails is obtained by superimposing the movement increment of the positioning target in the preset direction on the basis of the reference surface determined by the first detection device. It can be understood that the correction of the position information of the positioning target obtained by the second detection device according to the reference plane updated by the second position variation is more accurate than the correction of the position information of the positioning target obtained by directly adopting the second detection device, and the position mutation after the switching can be prevented, so that the target position keeps more accurate measurement for a period of time after the switching.

For example, if the first detecting device can accurately obtain the position of the positioning target, for example, the position of the positioning target is determined to be X3 at the first time, and the position of the positioning target is determined to be X4 at the second time. The position XB 4' determined from the updated reference surface at the second time is closer to the position X4 determined by the first detecting means, so that abrupt changes in the position of the target when switching to the second detecting means as the information source can be avoided, and the accuracy of the corrected position information of the positioning target acquired by the second detecting means can be improved.

In some embodiments, the updating the reference plane according to the second position variation includes: and updating the reference surface according to the correction amount and the second position change amount.

For example, by correcting the second position change amount according to the correction amount, the accuracy of the second position change amount can be improved, thereby improving the accuracy of the updated reference surface and the accuracy of the position information of the positioning target corrected according to the updated reference surface.

For example, as shown in fig. 6B, the second position variation B34 is added or multiplied by a correction amount to obtain a corrected second position variation B34 ', and then the reference plane 3 is updated according to the corrected second position variation B34 ' to obtain an updated reference plane 5, for example, moving the reference plane 3 upward in the gravity direction by B34 ' may obtain the reference plane 5 at the second time, i.e., the updated reference plane. The position information of the positioning target acquired by the second detection means after correction is determined to be the position XB4 "from the reference surface 5 and the detection direction C4. As can be seen from fig. 6b, the position information XB4 ″ of the positioning object obtained by the second detection device after the reference plane correction updated according to the corrected second position variation may coincide with the real position X4 of the positioning object at the second time.

For example, the correction amount may be pre-stored, or may be determined by the movable platform according to the detection results of the first and second detecting devices.

Illustratively, when the first detection device is not failed, the method further comprises: determining a first position variation of the positioning target in a preset direction according to the position information of the positioning target acquired by the first detection device; determining a second position variation of the positioning target in a preset direction according to the position information of the positioning target acquired by the second detection device; and determining a correction amount according to the first position change amount and the second position change amount.

For example, the correction amount may be determined based on a difference or ratio of the first position change amount and the second position change amount between the same period of time, such as two sampling periods. When the detection accuracy of the first detection means is higher than the detection accuracy of the second detection means, the accuracy of the second position variation may be improved in accordance with the correction amount, so that the updating of the reference surface in accordance with the corrected second position variation may be performed to substantially the same accuracy as the updating of the reference surface in accordance with the first position variation.

In some embodiments, the method further comprises: and correcting the reference surface or the updated reference surface according to a preset constraint condition.

Illustratively, the reference plane determined by the position information of the first detection device in step S110 and the reference plane updated by the position information of the second detection device are corrected according to preset constraint conditions.

Illustratively, the preset constraints include: the position of the reference plane in the preset direction cannot be changed abruptly.

Illustratively, according to a preset constraint condition, the reference surface or the updated reference surface is corrected, so that the reference surface moves smoothly in the preset direction, and the actual situation that the position of the positioning target in the preset direction does not change suddenly is better met.

Illustratively, the preset constraints include: the reference surface is static, moves at a uniform speed or moves at a uniform acceleration in the preset direction.

For example, the motion state of the positioning target in the preset direction may be determined according to the target position, and the preset constraint condition may be determined according to the motion state of the positioning target. For example, when the motion state of the positioning target in the preset direction is uniform motion, determining that the preset constraint condition is that the reference surface moves at a uniform motion in the preset direction; for example, when the moving state of the positioning target in the preset direction is stationary, the preset constraint condition is determined that the reference surface is stationary in the preset direction.

For example, when the positioning target travels on a flat ground, it may be determined that the movement state of the positioning target in the gravity direction is stationary according to the target position, and the positions of the determined reference surface and the updated reference surface in the gravity direction remain unchanged.

In some embodiments, the position information of the positioning target acquired by the first detecting means or the position information of the positioning target acquired by the second detecting means is expressed by a polar coordinate system, and the predicted position information of the positioning target is expressed by a cartesian coordinate system.

Since the detection direction of the detection device is usually accurate with low uncertainty and the uncertainty of the distance between the observed and located object is high, the position information in the conventional cartesian coordinate system couples the uncertainty to three directions perpendicular to each other, such as the x-y-z directions; by representing the position information of the detection device by a polar coordinate system, uncertainty can be decoupled, and the smoothness of target position and speed observation and the accuracy of detection direction observation are considered.

The Cartesian coordinate system is suitable for visually describing the motion mode of the positioning target, the motion of the positioning target is decomposed into horizontal plane direction motion and vertical direction motion according to the motion characteristic of the positioning target, and the predicted position information has higher universality and applicability. For example, the motion of the positioning target in the horizontal direction may be modeled as a uniform motion, and the motion in the vertical direction may be modeled as a uniform acceleration motion on the ground plane, based on which the position information of the positioning target is predicted. Of course, the present invention is not limited to this, and for example, the motion in the vertical direction may be modeled as a priori motion such as stationary, uniform, etc.

In some embodiments, the target position of the positioning target may be subject to a target state estimation based on a measurement equation represented in a polar coordinate system and a state equation represented in a Cartesian coordinate system.

Specifically, the determining the target position of the positioning target according to the corrected position information of the positioning target acquired by the second detecting device or the corrected position information of the positioning target acquired by the first detecting device includes:

and determining the target position of the positioning target according to the corrected position information of the positioning target obtained by the second detection device or the position information of the positioning target obtained by the first detection device, which is represented by polar coordinates, and the predicted position information of the positioning target, which is represented by a Cartesian coordinate system.

In the target state estimation problem, direction estimation is accurate, uncertainty of distance estimation is large, a polar coordinate system is used for describing a measurement model for positioning a target, uncertainty of position observation is decoupled into uncertainty of detection direction observation and uncertainty of distance observation, and smoothness and accuracy of target state estimation can be considered.

In some embodiments, the target position is used to control movement of the movable platform relative to the positioning target.

Illustratively, the controlling the movable platform to move relative to the positioning target includes: and planning at least one of a moving route of the movable platform, a shooting direction of the shooting device, a detection direction of the first detection device and a detection direction of the second detection device according to the target position.

For example, the movable platform may be controlled to move around or follow the positioning target according to the target position. For example, if the distance between the current mobile platform and the positioning target is smaller than or equal to a preset distance threshold value, the mobile platform is controlled to move leftwards, rightwards or upwards to detour, and the mobile platform is prevented from colliding with the positioning target; meanwhile, the shooting direction of the shooting device and/or the detection direction of the detection device can be adjusted, so that the shooting device can shoot the positioning target and/or the detection device can detect the positioning target. For example, if the current distance to the positioning target is greater than a specific distance, the movable platform is controlled to move towards the positioning target or accelerate towards the positioning target so as to follow the positioning target.

For example, the motion state of the positioning target may be determined according to the target position, and the movable platform may be controlled to move relative to the positioning target according to the motion state of the positioning target, for example, if the current distance from the positioning target becomes larger, it may be determined that the positioning target is far away from the movable platform, and the movable platform may be controlled to move towards the positioning target or accelerate towards the positioning target; if the distance between the current mobile platform and the positioning target is increased and the increased amplitude is larger and larger, it can be determined that the positioning target is accelerated to be far away from the mobile platform, and the mobile platform can be controlled to move towards the positioning target in an accelerated manner.

In the target positioning method provided by this embodiment, the reference plane is determined according to the position information of the positioning target obtained by the first detection device, the position information obtained by the second detection device is corrected according to the reference plane, and when the first detection device fails, the target position of the positioning target is determined according to the corrected position information of the positioning target obtained by the second detection device.

In some embodiments, the position information of the detection device with the highest precision is preferentially adopted in the plurality of effective detection devices, and the reference plane where the positioning target is located is determined according to the position information; when the detection device with the highest precision fails, the position of the positioning target is determined by switching to the position information according to the reference surface correction precision and the corrected position information, the position of the positioning target is not easy to change suddenly during switching, and the position precision can be improved when the detection device with the highest precision is switched to the next detection device.

Referring to fig. 7, fig. 7 is a schematic block diagram of a movable platform 700 according to an embodiment of the present application.

Illustratively, the movable platform 700 may include, for example, at least one of a pan-tilt, an unmanned aerial vehicle, an unmanned vehicle, or an unmanned boat. The unmanned aerial vehicle can be, for example, a rotary wing unmanned aerial vehicle, such as a quad-rotor unmanned aerial vehicle, a hexa-rotor unmanned aerial vehicle, an eight-rotor unmanned aerial vehicle, or a fixed wing unmanned aerial vehicle; the pan/tilt head includes, for example, a hand-held pan/tilt head, or a pan/tilt head that can be mounted on an unmanned aerial vehicle, an unmanned vehicle, or an unmanned boat.

In some embodiments, the movable platform 700 can carry a camera. Illustratively, the camera is mounted on a pan-tilt head, which is mounted on a movable platform 700 such as an unmanned aerial vehicle. Illustratively, the pan/tilt head includes at least one pivot structure, wherein the pivot structure may include at least one of a pivot structure corresponding to a yaw (yaw) axis, a pivot structure corresponding to a roll (roll) axis, and a pivot structure corresponding to a pitch (pitch) axis. Through the action of the rotating shaft structure, the posture of the shooting device can be stabilized, for example, the shooting direction of the shooting device is kept unchanged.

Specifically, the movable platform is mounted with a first detection device 11 and a second detection device 12.

In some embodiments, the first detection device 11 and the second detection device 12 include at least two of: monocular camera, binocular camera, radar, GPS device. Of course, the first detecting device 11 and the second detecting device 12 may also include other sensors capable of directly or indirectly measuring the position of the positioning target.

Illustratively, the priority of the first detecting device 11 is greater than the priority of the second detecting device 12.

Illustratively, the detection accuracy of the first detection device 11 is greater than the detection accuracy of the second detection device 12.

In particular, the movable platform 700 includes one or more processors 701.

In some embodiments, the movable platform 700 also includes memory 702.

Illustratively, the processor 701 and the memory 702 are connected by a bus 703, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the Processor 701 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.

Specifically, the Memory 702 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.

In particular, the one or more processors 701, working individually or collectively, are configured to perform the steps of the aforementioned target positioning method for a movable platform.

Illustratively, the processor 701 is configured to run a computer program stored in the memory 702 and to implement the aforementioned object localization method when executing the computer program.

Illustratively, the processor 701 is configured to run a computer program stored in the memory 702 and to implement the following steps when executing the computer program:

The specific principle and implementation manner of the movable platform provided in the embodiment of the present application are similar to those of the target positioning method in the foregoing embodiments, and are not described herein again.

Referring to fig. 8, fig. 8 is a schematic block diagram of an unmanned aerial vehicle 800 according to an embodiment of the present application.

In some embodiments, the unmanned aerial vehicle 800 can carry a camera. Illustratively, the camera is mounted on a pan-tilt head, which is mounted on the unmanned aerial vehicle 800.

Specifically, the UAV 800 includes one or more processors 801.

In some embodiments, unmanned aerial vehicle 800 also includes memory 802.

Illustratively, the processor 801 and the memory 802 are connected by a bus 803, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the Processor 801 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.

Specifically, the Memory 802 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.

The UAV 800 also includes a flight assembly 804, the flight assembly 804 being configured to fly.

Specifically, the movable platform is mounted with a first detection device 21 and a second detection device 22.

In some embodiments, the first detection device 21 and the second detection device 22 include at least two of: monocular camera, binocular camera, radar, GPS device. Of course, the first detecting device 21 and the second detecting device 22 may also include other sensors capable of directly or indirectly measuring the position of the positioning target.

Illustratively, the priority of the first detecting device 21 is greater than the priority of the second detecting device 22.

Illustratively, the detection accuracy of the first detection device 21 is greater than the detection accuracy of the second detection device 22.

In particular, the one or more processors 801, working individually or collectively, are configured to perform the steps of the method for object localization as described above.

Illustratively, the processor 801 is configured to run a computer program stored in the memory 802 and to implement the aforementioned object localization method when executing the computer program.

Illustratively, the processor 801 is configured to run a computer program stored in the memory 802, and when executing the computer program, to implement the following steps:

The specific principle and implementation manner of the unmanned aerial vehicle provided by the embodiment of the application are similar to those of the target positioning method of the previous embodiment, and are not described herein again.

Embodiments of the present application further provide a computer-readable storage medium, which stores a computer program, where the computer program includes program instructions, and when the computer program is executed by a processor, the processor is enabled to implement the steps of the object positioning method provided in the foregoing embodiments.

The computer readable storage medium may be a removable platform as described in any of the previous embodiments, such as an internal storage unit of an unmanned aerial vehicle, for example, a hard disk or a memory of the removable platform. The computer readable storage medium may also be an external storage device of the removable platform, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the removable platform.

The movable platform, the unmanned aerial vehicle and the computer-readable storage medium provided by the above embodiments of the present application determine the reference plane according to the position information of the positioning target acquired by the first detection device, correct the position information acquired by the second detection device according to the reference plane, and determine the target position of the positioning target according to the corrected position information of the positioning target acquired by the second detection device when the first detection device fails, and when a certain detection device fails and switches to a position where another detection device determines the target, the determined target position is not likely to generate abrupt changes and is smoother.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It should also be understood that the term "and/or" as used in this application and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An object positioning method for a movable platform carrying a first probe and a second probe, the method comprising:

2. The method of claim 1, further comprising:

and when the first detection device is not invalid, determining the target position of the positioning target according to the position information of the positioning target acquired by the first detection device.

3. The method according to claim 1, wherein the correcting the position information of the positioning target acquired by the second detecting device according to the reference plane comprises:

and when the first detection device fails, correcting the position information of the positioning target acquired by the second detection device according to the reference surface.

4. The method according to any one of claims 1 to 3, wherein the determining the reference plane where the positioning target is located according to the position information of the positioning target obtained by the first detection device comprises:

acquiring an initial reference surface where the positioning target is located;

and determining a reference surface where the positioning target is located according to the initial reference surface and the position information of the positioning target acquired by the first detection device.

5. The method according to claim 4, wherein the determining the reference plane where the positioning target is located according to the initial reference plane and the position information of the positioning target obtained by the first detection device comprises:

determining a first position variation of the positioning target in a preset direction according to the position information of the positioning target acquired by the first detection device;

and determining the reference surface where the positioning target is located according to the initial reference surface and the first position variation.

6. The method according to claim 1, wherein the correcting the position information of the positioning target acquired by the second detecting device according to the reference plane comprises:

acquiring the detection direction of the second detection device;

and correcting the position information of the positioning target acquired by the second detection device according to the detection direction and the reference surface.

7. The method according to claim 6, wherein the correcting the position information of the positioning target acquired by the second detecting device according to the detecting direction and the reference plane comprises:

acquiring rays which extend along the detection direction and take the position point of the movable platform as an end point;

and determining the position information of the positioning target acquired by the second corrected detection device according to the intersection point of the ray and the reference surface.

8. The method of claim 1, wherein upon failure of the first detection device, the method further comprises:

updating the reference surface according to the position information of the positioning target acquired by the second detection device;

and correcting the position information of the positioning target acquired by the second detection device according to the updated reference surface.

9. The method according to claim 8, wherein the updating the reference plane according to the position information of the positioning target obtained by the second detecting device comprises:

determining a second position variation of the positioning target in a preset direction according to the position information of the positioning target acquired by the second detection device;

and updating the reference surface according to the second position variation.

10. The method of claim 9, wherein when the first detection device is not disabled, the method further comprises:

determining a correction amount according to the first position change amount and the second position change amount;

the updating the reference plane according to the second position variation includes:

and updating the reference surface according to the correction amount and the second position change amount.

11. The method according to claim 8, wherein the correcting the position information of the positioning target obtained by the second detection device according to the updated reference plane comprises:

acquiring the detection direction of the second detection device;

and correcting the position information of the positioning target acquired by the second detection device according to the detection direction and the updated reference surface.

12. The method according to claim 11, wherein correcting the position information of the positioning target acquired by the second detecting device according to the detecting direction and the updated reference plane comprises:

and determining the corrected position information of the positioning target obtained by the second detection device according to the intersection point of the ray and the updated reference surface.

13. The method according to claim 1, 2 or 8, wherein the position information of the positioning target acquired by the first detecting device or the position information of the positioning target acquired by the second detecting device is represented by a polar coordinate system, the predicted position information of the positioning target is represented by a cartesian coordinate system, and the determining the target position of the positioning target based on the corrected position information of the positioning target acquired by the second detecting device or the position information of the positioning target acquired by the first detecting device comprises:

14. The method according to claim 1 or 8, characterized in that the method further comprises:

correcting the reference surface or the updated reference surface according to a preset constraint condition;

the preset constraint conditions comprise: the position of the reference plane in the preset direction cannot be changed abruptly.

15. Method according to claim 5 or 9, wherein the predetermined direction is the direction of gravity.

16. The method of claim 1, wherein the priority of the first probing apparatus is greater than the priority of the second probing apparatus.

17. The method of claim 1, wherein the detection accuracy of the first detection device is greater than the detection accuracy of the second detection device.

18. The method of claim 1, wherein the first and second detection devices comprise at least two of: monocular camera, binocular camera, radar, GPS device.

19. The method of claim 1, wherein the target position is used to control movement of the movable platform relative to the positioning target.

20. The method of claim 19, wherein the target position is used to control the movable platform to orbit or follow the positioning target.

21. A movable platform, characterized in that the movable platform is capable of carrying a first detection device and a second detection device;

22. The movable platform of claim 21, wherein the processor is further configured to:

23. The movable platform of claim 21, wherein the correcting the position information of the positioning target obtained by the second detecting device according to the reference plane comprises:

24. The movable platform of any one of claims 21-23, wherein the determining the reference plane on which the positioning target is located according to the position information of the positioning target obtained by the first detecting device comprises:

acquiring an initial reference surface where the positioning target is located;

25. The movable platform of claim 24, wherein the determining the reference plane on which the positioning target is located according to the initial reference plane and the position information of the positioning target obtained by the first detecting device comprises:

26. The movable platform of claim 21, wherein the correcting the position information of the positioning target obtained by the second detecting device according to the reference plane comprises:

acquiring the detection direction of the second detection device;

27. The movable platform according to claim 26, wherein the correcting the position information of the positioning target acquired by the second detecting device based on the detecting direction and the reference plane comprises:

28. The movable platform of claim 21, wherein the processor is further configured to, upon failure of the first detection device:

29. The movable platform of claim 28, wherein the updating the reference surface based on the position information of the positioning target obtained by the second detecting device comprises:

and updating the reference surface according to the second position variation.

30. The movable platform of claim 29, wherein, when the first detection device is not disabled, the processor is further configured to:

31. The movable platform of claim 28, wherein the correcting the position information of the positioning target obtained by the second detection device according to the updated reference plane comprises:

acquiring the detection direction of the second detection device;

32. The movable platform of claim 31, wherein correcting the position information of the positioning target obtained by the second detection device according to the detection direction and the updated reference plane comprises:

33. The movable platform according to claim 21, 22 or 28, wherein the position information of the positioning target acquired by the first detecting device or the position information of the positioning target acquired by the second detecting device is represented by a polar coordinate system, the predicted position information of the positioning target is represented by a cartesian coordinate system, and the determining the target position of the positioning target based on the corrected position information of the positioning target acquired by the second detecting device or the position information of the positioning target acquired by the first detecting device comprises:

34. The movable platform of claim 21 or 28, wherein the processor is further configured to:

35. The movable platform of claim 25 or 29, wherein the predetermined direction is a direction of gravity.

36. The movable platform of claim 21, wherein the priority of the first probing means is greater than the priority of the second probing means.

37. The movable platform of claim 21, wherein a detection accuracy of the first detection device is greater than a detection accuracy of the second detection device.

38. The movable platform of claim 21, wherein the first and second detection devices comprise at least two of: monocular camera, binocular camera, radar, GPS device.

39. The movable platform of claim 21, wherein the target position is used to control movement of the movable platform relative to the positioning target.

40. The movable platform of claim 39, wherein the target position is used to control the movable platform to orbit or follow the positioning target.

41. The movable platform of any one of claims 21-40, wherein the movable platform comprises at least one of: cloud platform, unmanned vehicles or unmanned ships and light boats.

42. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to carry out the method according to any one of claims 1-20.