CN114729807A - Positioning method, positioning device, movable platform, landmark and landmark array - Google Patents

Positioning method, positioning device, movable platform, landmark and landmark array Download PDF

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Publication number
CN114729807A
CN114729807A CN202080071115.3A CN202080071115A CN114729807A CN 114729807 A CN114729807 A CN 114729807A CN 202080071115 A CN202080071115 A CN 202080071115A CN 114729807 A CN114729807 A CN 114729807A
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landmark
movable platform
landmarks
position information
light source
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关雁铭
高成强
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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  • Length Measuring Devices By Optical Means (AREA)

Abstract

A movable platform positioning method comprising: acquiring an image (110) acquired by an image acquisition device on the movable platform; identifying a plurality of landmarks in an array of landmarks from the image (120); locating (130) the movable platform based on the identified location information of the plurality of landmarks in the array of landmarks; the image recognition technology is used for recognizing the landmarks, and the relative position of the movable platform relative to the landmarks can be obtained according to the position information of the landmarks, so that the movable platform can be positioned, and the movable platform can also be reliably positioned when other positioning modes such as visual positioning, GPS positioning and the like fail.

Description

Positioning method, positioning device, movable platform, landmark and landmark array Technical Field
The present disclosure relates to the field of positioning technologies, and in particular, to a positioning method, an apparatus, a movable platform, a landmark, and a landmark array.
Background
The movable platform needs to rely on a reliable positioning system during travel. Existing movable platforms can be positioned by wireless positioning means or by visual perception systems. However, GPS signals are susceptible to occlusion or interference, and the positioning effect of the visual perception system depends to some extent on the number of features of the surrounding environment. In summary, the conventional positioning method has poor positioning reliability.
Disclosure of Invention
In view of the above, it is an object of the present disclosure to provide a positioning method to improve the positioning reliability of a movable platform.
In order to achieve the technical effect, the embodiment of the disclosure discloses the following technical solutions:
in a first aspect, a method for positioning a movable platform is provided, the method comprising: acquiring an image acquired by an image acquisition device on a movable platform; identifying a plurality of landmarks in an array of landmarks from the image; and positioning the movable platform based on the identified position information of the plurality of landmarks in the landmark array.
In a second aspect, there is provided a movable platform positioning apparatus comprising a processor for performing the steps of: acquiring an image acquired by an image acquisition device on a movable platform; identifying a plurality of landmarks in an array of landmarks from the image; and positioning the movable platform based on the identified position information of the plurality of landmarks in the landmark array.
In a third aspect, there is provided a movable platform comprising: a body; the image acquisition device is arranged on the machine body and is used for acquiring images; and a positioning device, provided in the body, for performing the method according to the first aspect.
In a fourth aspect, a landmark is provided, which includes a light source, wherein the light source is modulated according to a preset modulation mode; the image including the landmark can be acquired by an image acquisition device on the movable platform, so that the movable platform positions the movable platform based on the position information of the landmark and the demodulation information obtained by demodulating the light source.
In a fifth aspect, there is provided a landmark array comprising a plurality of landmarks according to the fourth aspect.
In a sixth aspect, there is provided a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the method according to the first aspect.
According to the movable platform positioning method, the position information of the plurality of landmarks in the landmark array is used as prior information, the plurality of landmarks are identified through an image identification technology, and the relative position of the movable platform relative to the landmarks can be obtained according to the position information of the plurality of landmarks, so that the movable platform can be positioned, and the movable platform can also be reliably positioned when visual positioning and GPS positioning based on image characteristics are invalid.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, 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 only some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 is a flow chart illustrating a method of positioning a movable platform according to an exemplary embodiment of the present disclosure.
Fig. 2 is a flow chart illustrating a method of identifying an array of landmarks according to an exemplary embodiment of the present disclosure.
FIG. 3 is a flow chart illustrating a method of positioning a movable platform according to another exemplary embodiment of the present disclosure.
FIG. 4 is a flow chart illustrating a method of positioning a movable platform according to another exemplary embodiment of the present disclosure.
Fig. 5 is a schematic diagram of a positioning process shown in the present disclosure according to an example embodiment.
FIG. 6 is a positioning device illustrating the present disclosure according to an exemplary embodiment.
FIG. 7 is a diagram illustrating a movable platform according to an exemplary embodiment of the present disclosure.
Fig. 8 is a landmark shown in accordance with an example embodiment of the present disclosure.
FIG. 9 is an illustration of a landmark array according to an exemplary embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
Conventional mobile platforms are typically located by visual perception systems or wireless location. Use unmanned aerial vehicle as an example, when unmanned aerial vehicle was at low latitude or indoor flight, the vision perception system that can carry on through the fuselage shoots the image of surrounding environment, extracts the characteristic from the image again, fixes a position unmanned aerial vehicle based on the characteristic of extracting. However, the visual positioning system based on image features has high requirements on the number of features and the consistency of feature extraction. Under the environments such as high altitude and the like, the extractable characteristics are reduced, and the characteristics of the same object extracted from the images shot by the unmanned aerial vehicle at different angles may change, so that the robustness of the characteristic extraction is poor, and the positioning accuracy is reduced; in addition, the visual positioning system cannot cope with a dark or dark environment such as at night.
When the unmanned aerial vehicle flies at high altitude, the Global position of the unmanned aerial vehicle can be acquired by receiving a GPS satellite signal through an airborne Global Positioning System (GPS) receiver. In addition, there is also a means of acquiring a local position of the unmanned aerial vehicle by a method of erecting an Ultra Wide Band (UWB) base station. For a multi-machine system, multiple unmanned aerial vehicles can be positioned relative to each other through wireless communication. The wireless location mode is easily sheltered from and maliciously interferes, and is the only positioning means when night, often can directly lead to unmanned aerial vehicle out of control to compel to land or directly fall once interfering.
In summary, the conventional positioning method has poor reliability. Based on this, the disclosure provides a movable platform positioning method, which is used for a movable platform carrying an image acquisition device and a positioning device. The movable platform can be an unmanned aerial camera, a traversing machine, an unmanned vehicle, an unmanned ship and the like. The method comprises the steps as shown in fig. 1:
step 110: acquiring an image acquired by an image acquisition device on a movable platform;
step 120: identifying a plurality of landmarks in an array of landmarks from the image;
step 130: and positioning the movable platform based on the identified position information of the plurality of landmarks in the landmark array.
In step 110, an image containing an array of landmarks may be captured by an image capture device on the movable platform. Wherein, image acquisition device can be the camera, the camera can be installed on movable platform's cloud platform. The landmark array comprises a plurality of landmarks, the landmarks can be fixed on other objects, and the geometric shapes of the landmarks can be regular shapes such as circles, squares and the like, so that detection can be performed without adopting a complex feature detection algorithm, the positioning complexity is reduced, and the resource consumption in the positioning process is reduced. In other embodiments, the geometry of the landmark may be irregular, such as asymmetrical, to distinguish from the surrounding environment to reduce misrecognition. In still other embodiments, a combination of symmetric and asymmetric geometries may be employed to improve recognition accuracy while reducing detection algorithm complexity. Preferably, the geometry of the landmark is significantly different from the surrounding environment, for example, in mountainous regions, a circular landmark is avoided to distinguish from the natural shape of the rock; preferably, the color of the landmarks is significantly different from the surrounding environment, for example, green landmarks are avoided in grass to distinguish them from the natural color of grass. The landmarks are sized to allow the movable platform to be detectable during operation, each landmark being visible as a point in the image.
In step 120, a plurality of landmarks in a landmark array may be identified from the image. In some embodiments, in order to enable the image capturing device on the movable platform to capture an image containing a plurality of landmarks in a dark environment, each landmark in the present disclosure may include a light source that can emit visible light or invisible light such as infrared light, ultraviolet light, and the like. Further, in order to improve the accuracy of landmark identification, a plurality of light sources in the image may be filtered based on the information of the landmark to filter out light sources other than the landmark. The information of the landmark may include, but is not limited to, at least one of a light emitting frequency band, an arrangement mode, a modulation mode, and the like of the landmark.
Optionally, in order to reduce interference of lighting devices such as street lamps, an ultraviolet light source or an infrared light source may be used as a landmark. In addition, the light source can also be a narrow-band light source with good monochromaticity and used for emitting light within a certain wave band range, for example, a narrow-band infrared light source or a narrow-band ultraviolet light source can be selected. Correspondingly, still be equipped with band-pass filter on the image acquisition device on the movable platform, the accessible contains the light of narrowband light source output wave band, band-pass filter can be narrowband optical filter. If the light source can emit light with a center wavelength of 1080nm, the band-pass filter device can be set to pass light with a wave band of 1070-1090 nm or a 1080nm narrow-band filter is selected, so that the image acquisition device can capture light emitted by the narrow-band light source and filter light emitted by other light sources, interference of other light sources is reduced, and accuracy of landmark identification is improved. After capturing and filtering, the movable platform can extract the center of the light spot through a visual recognition algorithm.
Alternatively, a plurality of landmarks may be arranged in a predetermined manner, e.g., to form a circle. Then, light sources arranged in a manner different from the predetermined manner are filtered out from the image.
In addition, optionally, each landmark may also be modulated according to a preset modulation method. The modulation mode may be to modulate at least one of a flicker frequency, a light emitting frequency band, and a light emitting brightness of the light source. As shown in fig. 2, in the case where the landmarks are modulated according to a preset modulation scheme, the landmarks can be recognized from the image based on the following scheme:
step 121: demodulating each first light source in the image to obtain demodulation information;
step 122: a plurality of landmarks in the array of landmarks are identified from the respective first light sources based on the demodulation information.
For example, each landmark in the array of landmarks may be modulated according to the blinking frequency of the light source, e.g., the blinking frequency of each landmark may be set to f1. The image capture device on the movable platform needs to capture multiple images containing multiple landmarks. The flicker frequency of all the first light sources in the images can be calculated according to the plurality of images, and the flicker frequency and the landmark flicker frequency f1The matching first light source may be determined to be a landmark. As said image comprises a flicker frequency f1And other first light sources with flicker frequency, the flicker frequency can be determined to be f1Is a landmark.
For another example, since the landmark array includes a plurality of landmarks, the blinking frequency of different landmarks may be different in order to distinguish different landmarks on the movable platform. If the landmark array includes the landmarks a, B and C, the blinking frequencies of the landmarks a, B and C can be set to fA、f B、f C. The collected image comprises four first light sources, namely a first light source a, a first light source b, a first light source c and a first light source d, and the flicker frequencies of the four first light sources are calculated according to the images and are respectively fA、f B、f C、f DThen it can be determined that first light source a is landmark a, first light source B is landmark B, first light source C is landmark C, and first light source d is another interfering light source.
Further, the mobile platform and the light source of the landmark may be synchronized using Coordinated Universal Time (UTC). Where the light source of the landmark may use UTC time of the GPS,and twinkling is carried out according to a certain frequency, and the UTC time on the movable platform can be maintained through the body oscillator, so that the UTC time can be maintained after the GPS signals are lost subsequently. For example, the UTC time of the landmark light source a indicates that the time point at which the light source a starts to operate is T0Knowing the flicker frequency of light source A as fAThen, the time when the light source A emits the nth light can be calculated as T0+n/f AWherein n is a positive integer. If the first light source in the image is at T0+n/f AIf the light is emitted at any time other than the time, the first light source can be judged to be the light source A, so that the matching result of the first light source and the landmark is higher in accuracy.
Each landmark can be modulated according to the flicker frequency of the light source, can also be modulated on the light-emitting frequency band and the light-emitting brightness, and can also be modulated by combining more than two modulation modes. The modulation and demodulation method is similar to the above process, and is not described herein again. Of course, the landmark array may also carry other signal sources that can be detected by other sensors on the movable platform, such as UWB signal sources, Zigbee (Zigbee) signal sources, Bluetooth (Bluetooth) signal sources, and the like.
In step 130, the movable platform may be located based on local position information of each landmark in the landmark local coordinate system or global position information of each landmark in the global coordinate system (e.g., GPS coordinate system).
By the method, the image acquisition device of the movable platform only needs to capture and identify the image of the landmark containing the light source, and does not need to perform feature extraction on the image through a complex feature extraction algorithm, so that the requirement on the number of features is low. In addition, since each landmark is a specific geometric body and the volume does not need to be too large (as long as the landmark can be recognized by the movable platform), the positioning error caused by the inconsistency of feature extraction under different shooting angles is reduced. Therefore, the movable platform can still acquire images containing a plurality of landmarks in a dark or lightless environment. Furthermore, through a method of filtering or modulating the light source, whether the light source in the image is a landmark or not can be identified, so that the interference of illumination devices such as street lamps and decorative light-emitting devices on the identification of the landmark is eliminated, and the accuracy and the reliability of the positioning method provided by the disclosure are improved.
In general, movable platforms, such as drones, traversing machines, etc., need to fly at high altitudes. In order to clearly capture the landmark image under high altitude or far away from the landmark, the landmark needs to satisfy at least any one of the following conditions:
condition 1: the number of landmarks is greater than a preset number. In case that the preset number is enough that 50% of the total number of landmarks are occluded or damaged, the movable platform can still rely on the remaining landmarks for positioning. The preset number may be set according to the surrounding environment. If the terrain of the surrounding environment is complex (such as a city erected in a tall building), a larger amount can be set for the preset number, so that more landmarks are provided to assist the movable platform to position, and the situation that the number of landmarks captured by the movable platform is not enough to position due to shielding is avoided. In a region with a wider view, the preset number may be set to a smaller value due to less occlusion.
Condition 2: the size of each landmark is greater than a preset size. In particular, the preset size may be set according to a maximum range of motion of the movable platform (e.g., a maximum flying height of the drone), and the landmark should be sized such that the movable platform is still able to capture and recognize the landmark when moving at the maximum range.
Condition 3: a plurality of landmarks are dispersed within a movement area of the movable platform. In some embodiments, landmarks may be arranged in irregular shapes to avoid degradation of positioning due to multiple landmarks being arranged in a line or due to being arranged in a regular pattern, such as a circle, regular polygon, etc. In some embodiments, some landmarks may be arranged sparsely, another may be arranged densely, and different landmarks may be arranged at different heights, such as a part of landmarks placed on the ground and another part placed on a high building. Those skilled in the art can place the arrangement landmarks according to actual situations. Optionally, different templates may be set for the landmark arrangement, and a specific template may be adopted according to different environmental suitability. The symmetrical arrangement is easy to design, the asymmetrical arrangement mode has strong terrain adaptability and lower overlapping rate with the surrounding environment, and the positioning accuracy can be further improved.
In addition, in some embodiments, it is also necessary to calibrate the position information of each landmark, which includes the global position of each landmark in the global coordinate system, i.e., the absolute position described by using the longitude and latitude height, including the GPS position in the GPS positioning or the Real Time Kinematic (RTK) position. The method is specifically realized in the way that when the landmarks are placed, the global positions of the landmarks are determined by using positioning devices such as an RTK high-precision positioning module, or after the landmarks are placed, the global positions of the landmarks are detected by a movable platform for positioning. Then, the orientation of the origin and the coordinate axes can be selected to establish a local coordinate system of the landmark.
In some embodiments, as shown in FIG. 3, the movable platform may be positioned based on:
step 131: acquiring local position information of the movable platform under the landmark local coordinate system based on the identified position information of a plurality of landmarks in the landmark array;
step 132: and positioning the movable platform based on the local position information of the movable platform under the landmark local coordinate system.
After a plurality of landmarks are recognized from the image, the local position information of the movable platform under the local coordinate system of the landmarks can be obtained through an algorithm such as PnP (passive-n-Point). According to the method, the plurality of landmarks are identified, and the local position information of the movable platform under the local coordinate system of the landmarks is determined according to the position information of the plurality of landmarks, namely the relative position of the movable platform relative to the landmarks, so that the movable platform is positioned, and the movable platform can also be reliably positioned when the environmental characteristics are less, the light is darker and the GPS positioning fails.
In some embodiments, the position information of the movable platform may be further modified based on the identified position information of the plurality of landmarks in the landmark array. Specifically, the real-time position information of the movable platform in the preset coordinate system, which is acquired by a positioning system on the movable platform, may be corrected based on a mapping relationship between a preset coordinate system and the landmark local coordinate system and the real-time local position information of the movable platform in the landmark local coordinate system.
The preset coordinate system can be a navi coordinate system, a northeast coordinate system and other coordinate systems. The mapping relation between the preset coordinate system and the landmark local coordinate system is obtained according to at least one frame of pre-reference image which is acquired by an image acquisition device in the moving process of the movable platform in advance and the pre-position information of the movable platform in the preset coordinate system when at least one frame of pre-reference image is acquired, wherein the pre-reference image comprises at least one landmark. Specifically, it may be determined, according to the reference image, that first local position information of the movable platform in the landmark local coordinate system is obtained when the movable platform acquires the pre-reference image, and then, a mapping relationship between a preset coordinate system and a landmark local coordinate system may be determined according to the position information in a preset coordinate system and the first local position information when the movable platform acquires the pre-reference image.
The real-time local position information of the movable platform in the landmark local coordinate system is obtained according to at least one frame of real-time reference image acquired by the image acquisition device in real time in the movement process of the movable platform, wherein the real-time reference image comprises at least one landmark, and the specific acquisition mode is similar to the process for acquiring the local position information of the movable platform in the landmark local coordinate system, and is not repeated herein.
A movable platform, such as a drone, is typically positioned in flight in either the navi or northeast coordinate systems. However, when the conventional positioning method is disturbed, the movable platform may have positioning drift, i.e. the positioning error will gradually increase with the accumulation of time. By means of the method, the real-time positioning result obtained by the movable platform positioning module is compared and corrected, so that positioning drift is corrected, and the positioning accuracy of the movable platform is improved.
In some embodiments, in a particular case, the movable platform may be further controlled to move toward the target point based on the position information of the movable platform and the position information of the target point.
Under specific conditions, for example, when the global position information of the movable platform fails, that is, when the positioning module on the movable platform fails and cannot be positioned by using traditional positioning modes such as a GPS (global positioning system), the movable platform can be controlled to autonomously move towards a target point, such as a return point or other target points defined by a user. Wherein the target point needs to satisfy at least any one of the following conditions: the environment (e.g., lighting, texture, and/or wireless signals, etc.) in the vicinity of the target point is controllable; the position of the target point is fixed and is known relative to the position of the preset coordinate system.
Specifically, the autonomous movement of the movable platform may be controlled based on the position information of the movable platform and the position information of the target point. Wherein the position information of the movable platform comprises local position information of the movable platform under a landmark local coordinate system; the position information of the target point comprises local position information of the target point under the local coordinate system of the landmark. The local position information of the target point in the local coordinate system of the landmark is obtained according to the global position information of the target point in the global coordinate system, the global position information of the landmark in the global coordinate system and the mapping relation between the local coordinate system of the landmark and the global coordinate system.
By acquiring the local position information of the movable platform and the target point under the landmark local coordinate system, the movable platform can be controlled to automatically move to the target point when the traditional positioning method fails, the movable platform can accurately return and land, and the movable platform is prevented from being lost due to the fact that the movable platform moves under the condition of no positioning.
Referring to fig. 4, a method for positioning a movable platform provided by the present disclosure includes the steps of:
step 410: acquiring an image acquired by an image acquisition device on a movable platform;
step 420: demodulating each first light source in the image to obtain demodulation information;
step 430: a plurality of landmarks in the array of landmarks are identified from the respective first light sources based on the demodulation information.
In some embodiments, each landmark in the array of landmarks includes a light source, which may be a narrow band infrared light source, modulated in a manner that may flash at a frequency. When all the first light sources in the image are demodulated, the flicker frequencies of all the first light sources can be known according to the demodulation information, so that the first light sources are matched with the landmarks.
Further, the identified landmarks may be used to locate the movable platform. Specifically, the method comprises the following steps:
step 440: acquiring local position information of the movable platform under the landmark local coordinate system based on the identified position information of a plurality of landmarks in the landmark array;
step 450: and positioning the movable platform based on the local position information of the movable platform under the landmark local coordinate system.
Optionally, the following steps may also be performed:
step 460: and correcting the position information of the movable platform based on the identified position information of the plurality of landmarks in the landmark array.
Step 470: in a specific case, the movable platform is controlled to move toward the target point based on the position information of the movable platform and the position information of the target point.
The execution sequence of step 460 and step 470 is not limited in this disclosure, and step 460 may be executed first and then step 470 is executed, or step 470 and then step 460 may be executed first, or only one of step 460 and step 470 may be executed. The specific implementation of each step is as described above, and is not described herein again. According to the movable platform positioning method, the plurality of landmarks are identified through the image identification technology, and the relative position of the movable platform relative to the landmarks can be obtained according to the position information of the plurality of landmarks, so that the movable platform is positioned, and the movable platform can also be reliably positioned and accurately navigated when visual positioning and GPS positioning based on image characteristics fail. And the method is used for positioning, and the positioning of the movable platform in other coordinate systems can be corrected, so that the positioning accuracy is improved.
For details of this embodiment, reference is made to the previous method embodiment, which is not described herein again.
Referring to fig. 5, a schematic illustration of the positioning process of the present disclosure in some embodiments. As can be seen from fig. 5, from (3) the local position information of the landmark in the captured image in the landmark local coordinate system, the local position information of the movable platform in the landmark local coordinate system can be obtained (8) for locating the movable platform when the global position of the movable platform fails;
according to (2) global position information of the landmark in a global coordinate system, (3) local position information of the landmark in a landmark local coordinate system, obtaining (4) a mapping relation between the global coordinate system and the landmark local coordinate system, further according to (4) the mapping relation between the global coordinate system and the landmark local coordinate system, and (1) global position information of the target point in the global coordinate system, obtaining (7) local position information of the target point in the landmark local coordinate system, so as to control the movable platform to move to the target point;
and (6) obtaining the corrected local position information of the movable platform in the preset coordinate system according to (5) the local position information of the movable platform in the preset coordinate system and (8) the local position information of the movable platform in the landmark local coordinate system, so as to correct the positioning drift and improve the positioning accuracy.
Based on the positioning method according to any of the embodiments, the present disclosure further provides a movable platform positioning device, including a processor, where the processor is configured to execute the following steps:
acquiring an image acquired by an image acquisition device on a movable platform;
identifying a plurality of landmarks in an array of landmarks from the image;
and positioning the movable platform based on the identified position information of the plurality of landmarks in the landmark array.
In some embodiments, each landmark of the array of landmarks includes a light source.
In some embodiments, the light source is a narrow-band light source, and the image capturing device is provided with a band-pass filter device, where a pass band of the band-pass filter device includes an output band of the narrow-band light source.
In some embodiments, the light source is an infrared light source or an ultraviolet light source.
In some embodiments, the processor is configured to: demodulating each first light source in the image to obtain demodulation information; a plurality of landmarks in the array of landmarks are identified from the respective first light sources based on the demodulation information.
In some embodiments, the modulation comprises modulating at least one of a flicker frequency, a light source frequency band, and a light emitting brightness.
In some embodiments, the preset modulation mode includes modulating a flicker frequency of a landmark, and the number of the images is multiple; the processor is configured to: determining a flicker frequency of the respective first light source based on a plurality of the images; and determining the first light source of the first light sources, the flicker frequency of which is matched with the flicker frequency of the first landmark, as the first landmark.
In some embodiments, the processor is further configured to: for each first light source, determining whether the flicker frequency of the first light source matches the flicker frequency of the first landmark based on the UTC time of the first light source flicker and the UTC time of the first landmark flicker in the plurality of images.
In some embodiments, the plurality of landmarks satisfy at least any one of the following conditions: the number of the plurality of landmarks is greater than a preset number, the size of each landmark of the plurality of landmarks is greater than a preset size, and the plurality of landmarks are scattered in a moving area of the movable platform, such as under a flight area of an unmanned aerial vehicle or scattered in a drivable area of the unmanned aerial vehicle; in particular, it is also possible to spread a plurality of landmarks within the sensible range of the shooting device or sensing device carried thereon during the movement of the movable platform, for example to have a plurality of landmarks spread out in an area that can be shot and recognized by the camera carried thereon during the flight of the drone.
In some embodiments, the location information of each of the plurality of landmarks is calibrated when the landmark is placed or detected by a positioning movable platform after the landmark is placed.
In some embodiments, the processor is configured to: acquiring local position information of the movable platform under the landmark local coordinate system based on the identified position information of a plurality of landmarks in the landmark array; and positioning the movable platform based on the local position information of the movable platform under the landmark local coordinate system.
In some embodiments, the apparatus further comprises: and correcting the position information of the movable platform based on the identified position information of the plurality of landmarks in the landmark array.
In some embodiments, the processor is configured to: and correcting the real-time position information of the movable platform under the preset coordinate system, which is acquired by a positioning system on the movable platform, based on the mapping relation between the preset coordinate system and the landmark local coordinate system and the real-time local position information of the movable platform under the landmark local coordinate system.
In some embodiments, the mapping relationship between the preset coordinate system and the landmark local coordinate system is established based on at least one frame of pre-reference image pre-acquired by the image acquisition device during the current movement of the movable platform and pre-position information of the movable platform in the preset coordinate system when the at least one frame of pre-reference image is acquired, where the pre-reference image includes at least one landmark.
In some embodiments, the real-time local position information of the movable platform in the landmark local coordinate system is acquired based on at least one real-time reference image acquired by the image acquisition device in real time during the current movement of the movable platform, and the real-time reference image includes at least one landmark.
In some embodiments, the processor is further configured to: in a specific case, the movable platform is controlled to move toward the target point based on the position information of the movable platform and the position information of the target point.
In some embodiments, the position information of the movable platform comprises local position information of the movable platform in a landmark local coordinate system; and/or the position information of the target point comprises local position information of the target point in the landmark local coordinate system.
In some embodiments, the local position information of the target point in the landmark local coordinate system is obtained based on global position information of a waypoint in a global coordinate system, global position information of the landmark in the global coordinate system, and a mapping relationship between the landmark local coordinate system and the global coordinate system.
In some embodiments, the particular condition comprises a condition in which global position information for the movable platform fails.
In some embodiments, the target point comprises a waypoint.
In some embodiments, the target point satisfies at least any one of the following conditions: the environment near the target point is controllable; the position of the target point is fixed and is known relative to the position of the preset coordinate system.
The present disclosure also provides a movable platform positioning device comprising a processor configured to perform the steps of:
acquiring an image acquired by an image acquisition device on a movable platform;
demodulating each first light source in the image to obtain demodulation information;
a plurality of landmarks in the array of landmarks are identified from the respective first light sources based on the demodulation information.
In some embodiments, the processor is further configured to: acquiring local position information of the movable platform under the landmark local coordinate system based on the identified position information of a plurality of landmarks in the landmark array; and positioning the movable platform based on the local position information of the movable platform under the landmark local coordinate system.
In some embodiments, the processor is further configured to: and correcting the position information of the movable platform based on the identified position information of the plurality of landmarks in the landmark array.
In some embodiments, the processor is further configured to: in a specific case, the movable platform is controlled to move toward the target point based on the position information of the movable platform and the position information of the target point.
Fig. 6 is a schematic diagram illustrating a more specific hardware structure of a movable platform positioning device according to an embodiment of the present disclosure, where the apparatus may include: a processor 610, a memory 620, an input/output interface 630, a communication interface 640, and a bus 650. Wherein the processor 610, memory 620, input/output interface 630, and communication interface 640 are communicatively coupled to each other within the device via a bus 650.
The processor 610 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solutions provided in the embodiments of the present specification.
The Memory 620 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, or the like. The memory 620 may store an operating system and other application programs, and when the technical solution provided by the embodiments of the present specification is implemented by software or firmware, the relevant program codes are stored in the memory 620 and called by the processor 610 to be executed.
The input/output interface 630 is used for connecting an input/output module to realize information input and output. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.
The communication interface 640 is used for connecting a communication module (not shown in the figure) to realize communication interaction between the device and other devices. The communication module can realize communication in a wired mode (for example, USB, network cable, etc.), and can also realize communication in a wireless mode (for example, mobile network, WIFI, bluetooth, etc.).
Bus 650 includes a pathway to transfer information between various components of the device, such as processor 610, memory 620, input/output interface 630, and communication interface 640.
It should be noted that although the above-mentioned devices only show the processor 610, the memory 620, the input/output interface 630, the communication interface 640 and the bus 650, in a specific implementation, the devices may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only those components necessary to implement the embodiments of the present description, and not necessarily all of the components shown in the figures.
Based on the positioning method described in any of the above embodiments, the present disclosure further provides a movable platform as described in fig. 7. As shown in fig. 7, at the hardware level, the movable platform includes a body, an image capturing device and a positioning device, and may also include hardware required by other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs the computer program to implement the positioning method described in any of the above embodiments. In some embodiments, the movable platform is a drone.
Based on the positioning method described in any of the above embodiments, the present disclosure further provides a landmark as described in fig. 8. As shown in fig. 8, a landmark 800 includes a light source 801, and the light source 801 is modulated according to a preset modulation scheme. The image including the landmark 800 can be captured by an image capture device on the movable platform to enable the movable platform to locate the movable platform based on the position information of the landmark 800 and the demodulated information from the light source 801.
In some embodiments, the light source is a narrow-band light source, and the image capturing device is provided with a band-pass filter device, where a pass band of the band-pass filter device includes an output band of the narrow-band light source.
In some embodiments, the light source is an infrared light source or an ultraviolet light source.
In some embodiments, the demodulated information is used for the movable platform to identify the landmarks from the respective first light sources included in the image.
In some embodiments, the modulation comprises modulating at least one of a flicker frequency, a light source frequency band, and a light emitting brightness.
In some embodiments, the preset modulation mode includes modulating a flicker frequency of a landmark, where the number of the images is multiple, and the multiple images are used to determine the flicker frequency of each first light source; and the first light source of the first light sources, the flicker frequency of which is matched with the flicker frequency of the landmark, is the landmark.
In some embodiments, the flicker frequency of a first light source is determined based on the UTC time at which the first light source flickers in a plurality of the images.
The landmarks in this embodiment can be used to implement the method for positioning the movable platform of any of the above embodiments, and specific positioning methods refer to the foregoing method embodiments, which are not described herein again.
Based on the positioning method described in any of the above embodiments, the present disclosure further provides a landmark array as described in fig. 9. As shown in fig. 9, the array of landmarks 900 includes the landmarks 800 shown in fig. 8.
The present disclosure also provides a computer storage medium storing a computer program, which when executed by a processor can be used to execute the positioning method according to any of the above embodiments.
In some embodiments, the plurality of landmarks satisfies at least any one of the following conditions: the number of the plurality of landmarks is larger than a preset number, the size of each landmark in the plurality of landmarks is larger than a preset size, and the plurality of landmarks are scattered in a moving area of the movable platform.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The method and apparatus provided by the embodiments of the present disclosure are described in detail above, and the principle and the implementation of the present disclosure are explained by applying specific embodiments herein, and the description of the above embodiments is only used to help understanding the method and the core idea of the present disclosure; meanwhile, for a person skilled in the art, based on the idea of the present disclosure, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present disclosure should not be construed as a limitation to the present disclosure.

Claims (53)

  1. A method of positioning a movable platform, the method comprising:
    acquiring an image acquired by an image acquisition device on a movable platform;
    identifying a plurality of landmarks in an array of landmarks from the image;
    and positioning the movable platform based on the identified position information of the plurality of landmarks in the landmark array.
  2. The method of claim 1, wherein each landmark of the array of landmarks includes a light source.
  3. The method according to claim 2, wherein the light source is a narrow-band light source, and the image capturing device is provided with a band-pass filter device, wherein a pass band of the band-pass filter device includes an output band of the narrow-band light source.
  4. The method of claim 2, wherein the light source is an infrared light source or an ultraviolet light source.
  5. The method of claim 2, wherein each landmark in the array of landmarks is modulated according to a preset modulation scheme; the identifying a plurality of landmarks in an array of landmarks from the image includes:
    demodulating each first light source in the image to obtain demodulation information;
    a plurality of landmarks in the array of landmarks are identified from the respective first light sources based on the demodulation information.
  6. The method of claim 5, wherein the modulation scheme comprises modulating at least one of a flicker frequency, a light source frequency band, and a light emitting brightness.
  7. The method according to claim 5, wherein the preset modulation mode comprises modulating the flicker frequency of the landmark, and the number of the images is multiple; the identifying of the plurality of landmarks in the array of landmarks from the respective first light sources based on the demodulation information comprises:
    determining a flicker frequency of the respective first light source based on a plurality of the images;
    and determining the first light source of the first light sources, the flicker frequency of which is matched with the flicker frequency of the first landmark, as the first landmark.
  8. The method of claim 7, further comprising:
    for each first light source, determining whether the flicker frequency of the first light source matches the flicker frequency of the first landmark based on the UTC time of the first light source flicker and the UTC time of the first landmark flicker in the plurality of images.
  9. The method of claim 1, wherein the plurality of landmarks satisfy at least any one of the following conditions:
    the number of the plurality of landmarks is greater than a preset number,
    each of the plurality of landmarks having a size greater than a preset size,
    the plurality of landmarks are dispersed within a movement area of the movable platform.
  10. The method of claim 1, wherein the position information of each of the plurality of landmarks is calibrated when the landmark is placed or is detected by a positioning movable platform after the landmark is placed.
  11. The method of claim 1, wherein the locating the movable platform based on the identified location information of the plurality of landmarks in the array of landmarks comprises:
    acquiring local position information of the movable platform under the landmark local coordinate system based on the identified position information of a plurality of landmarks in the landmark array;
    and positioning the movable platform based on the local position information of the movable platform under the landmark local coordinate system.
  12. The method of claim 1, further comprising:
    and correcting the position information of the movable platform based on the identified position information of the plurality of landmarks in the landmark array.
  13. The method of claim 12, wherein the modifying the position information of the movable platform based on the identified position information of the plurality of landmarks in the array of landmarks comprises:
    and correcting the real-time position information of the movable platform under the preset coordinate system, which is acquired by a positioning system on the movable platform, based on the mapping relation between the preset coordinate system and the landmark local coordinate system and the real-time local position information of the movable platform under the landmark local coordinate system.
  14. The method according to claim 13, wherein the mapping relationship between the preset coordinate system and the local coordinate system of the landmark is established based on at least one pre-reference image pre-acquired by the image acquisition device during the current movement of the movable platform and pre-position information of the movable platform in the preset coordinate system when the at least one pre-reference image is acquired, the pre-reference image including at least one landmark.
  15. The method of claim 13, wherein the real-time local position information of the movable platform in the landmark local coordinate system is obtained based on at least one real-time reference image acquired by the image acquisition device in real-time during the current movement of the movable platform, the real-time reference image including at least one of the landmarks.
  16. The method of claim 1, further comprising:
    in a specific case, the movable platform is controlled to move toward the target point based on the position information of the movable platform and the position information of the target point.
  17. The method of claim 16, wherein the position information of the movable platform comprises local position information of the movable platform in a landmark local coordinate system; and/or the position information of the target point comprises local position information of the target point in the landmark local coordinate system.
  18. The method of claim 16, wherein the local position information of the target point in the landmark local coordinate system is obtained based on global position information of the target point in a global coordinate system, global position information of the landmark in the global coordinate system, and a mapping relationship between the landmark local coordinate system and the global coordinate system.
  19. The method of claim 16, wherein the particular condition comprises a condition in which global position information of the movable platform fails.
  20. The method of claim 16, wherein the target point comprises a waypoint.
  21. The method of claim 16, wherein the target point satisfies at least one of the following conditions:
    the environment near the target point is controllable;
    the position of the target point is fixed and is known relative to the position of the preset coordinate system.
  22. A movable platform positioning apparatus comprising a processor, wherein the processor is configured to perform the steps of:
    acquiring an image acquired by an image acquisition device on a movable platform;
    identifying a plurality of landmarks in an array of landmarks from the image;
    and positioning the movable platform based on the identified position information of the plurality of landmarks in the landmark array.
  23. The apparatus of claim 22, wherein each landmark of the array of landmarks includes a light source.
  24. The apparatus of claim 23, wherein the light source is a narrow-band light source, and the image capturing device is provided with a band-pass filter, and a pass band of the band-pass filter includes an output band of the narrow-band light source.
  25. The apparatus of claim 23, wherein the light source is an infrared light source or an ultraviolet light source.
  26. The apparatus of claim 23, wherein the processor is configured to:
    demodulating each first light source in the image to obtain demodulation information;
    a plurality of landmarks in the array of landmarks are identified from the respective first light sources based on the demodulation information.
  27. The apparatus of claim 26, wherein the modulation scheme comprises modulating at least one of a flicker frequency, a light source frequency band, and a light emission brightness.
  28. The apparatus according to claim 26, wherein the preset modulation mode includes modulating a blinking frequency of a landmark, and the number of the images is plural; the processor is configured to:
    determining a flicker frequency of the respective first light source based on a plurality of the images;
    and determining the first light source of the first light sources, the flicker frequency of which is matched with the flicker frequency of the first landmark, as the first landmark.
  29. The apparatus of claim 28, wherein the processor is further configured to:
    for each first light source, determining whether the flicker frequency of the first light source matches the flicker frequency of the first landmark based on the UTC time of the first light source flicker and the UTC time of the first landmark flicker in the plurality of images.
  30. The apparatus of claim 22, wherein the plurality of landmarks satisfy at least any one of the following conditions:
    the number of the plurality of landmarks is greater than a preset number,
    each of the plurality of landmarks having a size greater than a preset size,
    the plurality of landmarks are dispersed within a movement area of the movable platform.
  31. The apparatus of claim 22, wherein the position information of each of the plurality of landmarks is calibrated when the landmark is placed or is detected by a positioning movable platform after the landmark is placed.
  32. The apparatus of claim 22, wherein the processor is configured to:
    acquiring local position information of the movable platform under the landmark local coordinate system based on the identified position information of a plurality of landmarks in the landmark array;
    and positioning the movable platform based on the local position information of the movable platform under the landmark local coordinate system.
  33. The apparatus of claim 22, further comprising:
    and correcting the position information of the movable platform based on the identified position information of the plurality of landmarks in the landmark array.
  34. The apparatus of claim 33, wherein the processor is configured to:
    and correcting the real-time position information of the movable platform under the preset coordinate system, which is acquired by a positioning system on the movable platform, based on the mapping relation between the preset coordinate system and the landmark local coordinate system and the real-time local position information of the movable platform under the landmark local coordinate system.
  35. The apparatus according to claim 34, wherein the mapping relationship between the preset coordinate system and the local coordinate system of the landmark is established based on at least one pre-reference image pre-captured by the image capturing device during the current movement of the movable platform and pre-position information of the movable platform in the preset coordinate system when the at least one pre-reference image is captured, the pre-reference image including at least one landmark.
  36. The apparatus of claim 34, wherein the real-time local position information of the movable platform in the landmark local coordinate system is obtained based on at least one real-time reference image acquired by the image acquisition device in real-time during the current movement of the movable platform, the real-time reference image including at least one of the landmarks.
  37. The apparatus of claim 22, wherein the processor is further configured to:
    in a specific case, the movable platform is controlled to move toward the target point based on the position information of the movable platform and the position information of the target point.
  38. The apparatus of claim 37, wherein the position information of the movable platform comprises local position information of the movable platform in a landmark local coordinate system; and/or the position information of the target point comprises local position information of the target point in the landmark local coordinate system.
  39. The apparatus of claim 37, wherein the local position information of the target point in the local coordinate system of the landmark is obtained based on the global position information of the waypoint in the global coordinate system, the global position information of the landmark in the global coordinate system, and a mapping relationship between the local coordinate system of the landmark and the global coordinate system.
  40. The apparatus of claim 37, wherein the particular condition comprises a condition in which global position information of the movable platform fails.
  41. The apparatus of claim 37, wherein the target point comprises a waypoint.
  42. The apparatus of claim 37, wherein the target point satisfies at least one of the following conditions:
    the environment near the target point is controllable;
    the position of the target point is fixed and is known relative to the position of the preset coordinate system.
  43. A movable platform, comprising:
    a body;
    the image acquisition device is arranged on the machine body and is used for acquiring images; and
    a positioning device disposed within the body for performing the method of any one of claims 1 to 21.
  44. A landmark, comprising a light source, wherein the light source is modulated according to a preset modulation mode;
    the image including the landmark can be acquired by an image acquisition device on the movable platform, so that the movable platform positions the movable platform based on the position information of the landmark and the demodulation information obtained by demodulating the light source.
  45. The landmark of claim 44, wherein the light source is a narrow band light source, and wherein the image capturing device is provided with a band-pass filter device, and wherein a pass band of the band-pass filter device comprises an output band of the narrow band light source.
  46. The landmark of claim 45, wherein the light source is an infrared light source or an ultraviolet light source.
  47. The landmark of claim 44, wherein the demodulation information is used for the movable platform to identify the landmark from the respective first light sources included in the image.
  48. The landmark of claim 44, wherein the modulation scheme includes modulating at least one of a blink frequency, a light source frequency band, and a light emission brightness.
  49. The landmark according to claim 47, wherein the preset modulation scheme includes modulating a blinking frequency of the landmark, and the number of the images is plural, and the plural images are used for determining the blinking frequency of each of the first light sources; and the first light source of the first light sources, the flicker frequency of which is matched with the flicker frequency of the landmark, is the landmark.
  50. The landmark of claim 49, wherein a blink frequency for a first light source is determined based on UTC time for the first light source to blink in a plurality of the images.
  51. An array of landmarks, wherein the array of landmarks comprises a plurality of landmarks according to any one of claims 44 through 50.
  52. The array of landmarks of claim 51, wherein the plurality of landmarks satisfies at least one of the following conditions:
    the number of the plurality of landmarks is greater than a preset number,
    each of the plurality of landmarks having a size greater than a preset size,
    the plurality of landmarks are dispersed within a movement area of the movable platform.
  53. A computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the method of any one of claims 1 to 21.
CN202080071115.3A 2020-11-30 2020-11-30 Positioning method, positioning device, movable platform, landmark and landmark array Pending CN114729807A (en)

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