CN117629225A - Global repositioning method and device for mobile vehicle, mobile vehicle and equipment - Google Patents
Global repositioning method and device for mobile vehicle, mobile vehicle and equipment Download PDFInfo
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Abstract
The invention relates to the technical field of vehicle positioning, and provides a global repositioning method and device for a mobile vehicle, the mobile vehicle and equipment, wherein the global repositioning method for the mobile vehicle comprises the following steps: constructing a probability grid map of the moving vehicle; determining all upper line points of the mobile vehicle in the probability grid map by a branch-and-bound searching method; generating a candidate online point queue according to the grid region occupation probability scores of all the online points; traversing the candidate online point queue through a multimodal detection method, and determining the grid area distribution quantity of the candidate online points in the candidate online point queue; determining target online points according to the grid area distribution quantity of the candidate online points in the candidate online point queue; and outputting the on-line point of the target to the moving vehicle for repositioning. The invention can effectively avoid the problem of online positioning error caused by similar scene or map change, does not need manual participation, automatically outputs online results and improves positioning accuracy and efficiency.
Description
Technical Field
The present invention relates to the field of vehicle positioning technologies, and in particular, to a global repositioning method and apparatus for a mobile vehicle, and a device.
Background
In the related art, AGV (Automated Guided Vehicle) is a mobile transport vehicle in automated production, and common industrial AGV navigation positioning modes include magnetic navigation, landmark navigation, natural navigation and the like. The laser SLAM navigation in natural navigation is a mainstream positioning mode due to the advantages of high positioning accuracy, no subsequent maintenance, easy deployment and the like. In the laser SLAM navigation positioning process, an AGV needs to perform online operation in the initial positioning stage, and the main function of the operation is to acquire the current pose of the AGV and perform subsequent matching positioning process according to the online pose.
At present, in the laser SLAM navigation positioning process, the main online positioning method is mainly a branch-and-bound searching method, but the method has the following defects: in some areas with similar scenes or after the map is changed greatly, the wrong point pose is easily selected as the online point of the AGV, so that accidents are caused.
Disclosure of Invention
The invention provides a global repositioning method and device for a mobile vehicle, the mobile vehicle and equipment, which are used for solving the defect of low safety caused by poor positioning accuracy in the related technology, effectively avoiding the problem of online positioning errors caused by similar scenes or map changes, automatically outputting online results without manual participation, and improving the positioning accuracy and efficiency, thereby effectively improving the safety of the mobile vehicle.
The invention provides a global repositioning method of a mobile vehicle, which comprises the following steps:
constructing a probability grid map of the moving vehicle;
determining all online points of the mobile vehicle in the probability grid map by a branch-and-bound searching method;
generating a candidate online point queue according to the grid region occupation probability scores of all the online points;
traversing the candidate online point queue through a multimodal detection method, and determining the grid area distribution quantity of the candidate online points in the candidate online point queue;
determining target online points according to the grid area distribution quantity of the candidate online points in the candidate online point queue;
and outputting the target online point to the mobile vehicle for repositioning.
According to the global repositioning method for the mobile vehicle provided by the invention, the step of determining the target online points according to the grid area distribution quantity of the candidate online points in the candidate online point queue comprises the following steps:
and determining that all the candidate online points in the candidate online point queue are distributed in the same grid area, and taking the candidate online point with the highest grid area occupation probability score in the grid area as the target online point.
The global repositioning method for the mobile vehicle provided by the invention further comprises the following steps:
and determining that all the candidate online points in the candidate online point queue are distributed in at least two different grid areas, and outputting invalid prompting information of the candidate online points.
According to the global repositioning method for the mobile vehicle provided by the invention, the step of generating the candidate online point queue according to the grid area occupation probability scores of all the online points comprises the following steps:
traversing all the online points;
determining that the grid area occupation probability score of the online points is larger than a target threshold value, and recording the corresponding online points to a candidate online point queue;
and determining that the grid region occupation probability score of the online points is smaller than or equal to a target threshold value, and ignoring the corresponding online points.
According to the global repositioning method of the mobile vehicle provided by the invention, the step of determining the target threshold value comprises the following steps:
and determining the target threshold according to the product of the highest score of the grid region occupation probability in all the online points and the set coefficient.
According to the global repositioning method of the mobile vehicle provided by the invention, the step of constructing the probability grid map of the mobile vehicle comprises the following steps:
controlling the mobile vehicle to move from the starting point of the target area to all areas of the target area, and acquiring point cloud information of all areas;
and generating the probability grid map according to the point cloud information.
According to the global repositioning method of the mobile vehicle provided by the invention, the step of generating the probability grid map according to the point cloud information comprises the following steps:
initializing a probability grid map when the target area is online last time by taking the starting point of the target area as an origin;
converting the point cloud information of each frame by a ray tracing method;
and sequentially inserting the converted point cloud information into the initialized probability grid map, updating the initialized probability grid map, and generating the probability grid map constructed by all the point cloud information.
The invention also provides a global repositioning device for a mobile vehicle, comprising:
the construction module is used for constructing a probability grid map of the mobile vehicle;
a first determining module, configured to determine all online points of the mobile vehicle in the probability grid map by using a branch-and-bound searching method;
the generation module is used for generating a candidate online point queue according to the grid region occupation probability scores of all the online points;
the second determining module is used for traversing the candidate online point queue through a multimodal detection method and determining the grid area distribution quantity of the candidate online points in the candidate online point queue;
the third determining module is used for determining target online points according to the grid area distribution quantity of the candidate online points in the candidate online point queue;
and the output module is used for outputting the target online point to the mobile vehicle for repositioning.
The invention also provides a mobile vehicle, which uses the global repositioning method of the mobile vehicle.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the global repositioning method of the mobile vehicle when executing the program.
According to the global repositioning method, the global repositioning device, the mobile vehicle and the equipment for the mobile vehicle, all the online points of the mobile vehicle in the probability grid map are determined through the branch-and-bound searching method by constructing the probability grid map of the mobile vehicle, the candidate online point queue is generated according to the grid area occupation probability scores of all the online points, the candidate online point queue is traversed through the multimodal detection method, the grid area distribution quantity of the candidate online points in the candidate online point queue is determined, the target online points are determined according to the grid area distribution quantity of the candidate online points in the candidate online point queue, and the target online points are output to the mobile vehicle for repositioning. Therefore, the invention adds the multimodal detection mechanism on the basis of branch positioning matching by using the probability grid map, screens and judges the trusted online points based on the multimodal detection mechanism, and finally relocates the online result, thereby effectively avoiding the problem of online positioning error caused by similar scene or map change, automatically outputting the online result without manual participation, and improving the positioning accuracy and efficiency, thereby effectively improving the safety of the mobile vehicle.
Drawings
In order to more clearly illustrate the invention or the technical solutions in the related art, the drawings that are required to be used in the description of the embodiments or the related art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is one of the flow diagrams of the global repositioning method for a mobile vehicle provided by the present invention;
FIG. 2 is a second flow chart of a global repositioning method for a mobile vehicle according to the present invention;
FIG. 3 is a schematic diagram of the structure of a global repositioning device for a mobile vehicle provided by the present invention;
fig. 4 is a schematic structural diagram of an electronic device provided by the present invention.
Reference numerals:
310: constructing a module; 320: a first determination module;
330: a generating module; 340: a second determination module;
350: a third determination module; 360: an output module;
410: a processor; 420: a communication interface;
430: a memory; 440: a communication bus.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In describing embodiments of the present invention, it should be noted that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
The global repositioning method, apparatus, mobile vehicle and device of the mobile vehicle of the present invention are described below with reference to fig. 1-4.
According to an embodiment of the first aspect of the present invention, referring to fig. 1, the global repositioning method for a mobile vehicle provided by the present invention mainly includes the following steps:
s100, constructing a probability grid map of the moving vehicle.
Specifically, the step of constructing the probability grid map of the mobile vehicle mainly includes two stages, namely a point cloud information acquisition stage and a probability grid map generation stage.
The point cloud information acquisition stage comprises the following steps: controlling a mobile vehicle to move to a starting point of a target area and starting to collect point cloud information, wherein each frame of point cloud information can comprise laser radar information, and the mobile vehicle is based on information such as global pose, global pose confidence and the like of the starting point of the target area; controlling a mobile vehicle to move in a target area until the mobile vehicle moves to all areas, and acquiring point cloud information of all areas; and saving and transmitting all the point cloud information to a probability grid map generation stage.
The probability grid map generation stage includes: and initializing a probability grid map when the starting point coordinates of the target area are used as an original point, converting the point cloud information of each frame by a ray tracing method, sequentially inserting the converted point cloud information into the initialized probability grid map, updating the initialized probability grid map, and generating the probability grid map constructed by all real-time point cloud information.
S200, determining all the upper line points of the mobile vehicle in the probability grid map through a branch and bound searching method.
Specifically, all online points of the mobile vehicle, that is, all current poses in which the mobile vehicle may exist, are calculated using a branch-and-bound search method based on a probability grid map.
S300, generating a candidate online point queue according to the grid region occupation probability scores of all the online points.
Specifically, after all the online points are obtained, calculating grid region occupation probability scores of all the online points; comparing the grid region occupation probability score of each online point with a target threshold value, and storing the corresponding online point record into a candidate online point queue when the grid region occupation probability score of the online point is determined to be greater than the target threshold value; and when the grid area occupation probability score of the online points is less than or equal to the target threshold value, ignoring the corresponding online points, and comparing the next online points until all the online points are traversed, so as to obtain a final candidate online point queue.
It will be appreciated that the higher the grid region occupancy probability score for an online point, the greater the probability that a moving vehicle is at that online point; and the candidate online point queue comprises a plurality of candidate online points, wherein the candidate online points represent candidate poses with high probability of moving vehicles on the online points.
And, the target threshold value may be determined according to the product of the highest score of the grid region occupation probability among all the upper line points and the set coefficient. By the design, the repositioning accuracy can be effectively improved.
Therefore, the embodiment of the invention obtains the candidate online points with higher pose accuracy after screening all the online points, and then carries out subsequent repositioning based on the candidate online points, thereby effectively improving the positioning accuracy.
S400, traversing the candidate online point queue through a multimodal detection method, and determining the grid area distribution quantity of the candidate online points in the candidate online point queue.
S500, determining target online points according to the grid area distribution quantity of the candidate online points in the candidate online point queue.
Specifically, traversing all candidate online points with scores higher than a target threshold value by a multimodal detection method, calculating and determining the area distribution condition of all candidate online points, and if the candidate online points with scores higher than the target threshold value are determined to be distributed in the same single grid area, taking the candidate online point with the highest grid area occupation probability score in the grid area as the target online point, namely finally determining a repositioning unique pose result.
If it is determined that the candidate online points with the score higher than the target threshold are distributed in two or more different grid areas, the condition that similar areas exist in the environment is indicated, a repositioning online point result cannot be obtained, and an invalid candidate online point result is output so as to prompt a user.
S600, outputting the on-line point of the target to the moving vehicle for repositioning.
It will be appreciated that steps S200-S600 result in an online point phase for each online time the global repositioning method is run using the probability grid map.
Therefore, the global repositioning method of the mobile vehicle provided by the embodiment of the invention can be understood as a global repositioning result uniqueness detection method based on a probability grid, and mainly comprises three stages: and the point cloud information acquisition stage, the probability grid map generation stage and the online point stage which are obtained by using the probability grid map to operate the global repositioning method during each online. According to the invention, the multimodal detection mechanism is added on the basis of branch positioning matching by using the probability grid map, and the trusted online points are screened and judged based on the multimodal detection mechanism, so that the final online result is obtained to be repositioned, the problem of online positioning errors caused by similar scenes or map changes can be effectively avoided, the online result is automatically output without manual participation, and the positioning accuracy and efficiency are improved, so that the safety of a mobile vehicle is effectively improved.
The global repositioning method for a mobile vehicle according to the present invention is further described below with reference to a specific example.
As shown in fig. 2, the global repositioning method for a mobile vehicle according to the embodiment of the present invention mainly includes the following steps:
(1) And controlling the mobile vehicle to start on-line positioning operation.
(2) And carrying out matching updating on the probability grid map when the vehicle is on line last time by using all the point cloud information collected in real time, and generating the probability grid map constructed by all the real-time point cloud information.
(3) All the online point calculation of the mobile vehicle is performed by using a branch-and-bound search method of a traditional probability grid map.
(4) And acquiring grid region occupation probability scores score of all the online points, and calculating a target threshold value.
(5) Comparing the score of the online point with a target threshold, and storing the corresponding online point record into a candidate online point queue when the score is greater than the target threshold; and when the score of the online point is less than or equal to the target threshold, ignoring the corresponding online point, and comparing the next online point until all the online points are traversed, so as to obtain a final candidate online point queue.
(6) Calculating the region distribution condition of all candidate online points with scores higher than a target threshold by using a multimodal detection method, and if the candidate online points with scores higher than the target threshold are determined to be distributed in the same single grid region, outputting the candidate online points with highest grid region occupation probability score in the grid region to a mobile vehicle as target online points; and if the candidate online points with the scores higher than the target threshold value are determined to be distributed in at least two different grid areas, outputting invalid results of the candidate online points, and prompting a user.
The global repositioning device for a mobile vehicle provided by the invention is described below, and the global repositioning device for a mobile vehicle described below and the global repositioning method for a mobile vehicle described above can be referred to correspondingly.
According to an embodiment of the second aspect of the present invention, referring to fig. 3, the present invention also provides a global repositioning device for a mobile vehicle, mainly comprising: a building module 310, a first determination module 320, a generation module 330, a second determination module 340, a third determination module 350, and an output module 360. Wherein, the construction module 310 is configured to construct a probability grid map of a moving vehicle; the first determining module 320 is configured to determine all online points of the mobile vehicle in the probability grid map by using a branch-and-bound search method; the generating module 330 is configured to generate a candidate online point queue according to the grid region occupation probability scores of all online points; the second determining module 340 is configured to traverse the candidate online point queue by using a multimodal detection method, and determine the distribution number of grid areas of the candidate online points in the candidate online point queue; the third determining module 350 is configured to determine a target online point according to the number of grid area distributions of the candidate online points in the candidate online point queue; the output module 360 is used to output the target online points to the moving vehicle for repositioning.
Therefore, the global repositioning device for the mobile vehicle provided by the embodiment of the invention can effectively avoid the problem of online positioning errors caused by similar scenes or map changes by adding the multimodal detection mechanism on the basis of branch positioning matching by using the probability grid map and screening and judging the trusted online points based on the multimodal detection mechanism, automatically outputting the online result without manual participation, and improving the positioning accuracy and efficiency, thereby effectively improving the safety of the mobile vehicle.
According to an embodiment of the third aspect of the present invention, the present invention also provides a mobile vehicle, which uses the global repositioning method of the mobile vehicle of the above embodiment.
The global repositioning method of the mobile vehicle according to the embodiment of the present invention has all the technical effects of the global repositioning method of the mobile vehicle according to the embodiment, and is not described herein.
Fig. 4 illustrates a physical schematic diagram of an electronic device, as shown in fig. 4, which may include: processor 410, communication interface (Communications Interface) 420, memory 430 and communication bus 440, wherein processor 410, communication interface 420 and memory 430 communicate with each other via communication bus 440. The processor 410 may invoke logic instructions in the memory 430 to perform a global repositioning method of a moving vehicle, the method comprising: constructing a probability grid map of the moving vehicle; determining all upper line points of the mobile vehicle in the probability grid map by a branch-and-bound searching method; generating a candidate online point queue according to the grid region occupation probability scores of all the online points; traversing the candidate online point queue through a multimodal detection method, and determining the grid area distribution quantity of the candidate online points in the candidate online point queue; determining target online points according to the grid area distribution quantity of the candidate online points in the candidate online point queue; and outputting the on-line point of the target to the moving vehicle for repositioning.
Further, the logic instructions in the memory 430 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of performing the global repositioning method of a mobile vehicle provided by the methods described above, the method comprising: constructing a probability grid map of the moving vehicle; determining all upper line points of the mobile vehicle in the probability grid map by a branch-and-bound searching method; generating a candidate online point queue according to the grid region occupation probability scores of all the online points; traversing the candidate online point queue through a multimodal detection method, and determining the grid area distribution quantity of the candidate online points in the candidate online point queue; determining target online points according to the grid area distribution quantity of the candidate online points in the candidate online point queue; and outputting the on-line point of the target to the moving vehicle for repositioning.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the method for global repositioning of a mobile vehicle provided by the methods described above, the method comprising: constructing a probability grid map of the moving vehicle; determining all upper line points of the mobile vehicle in the probability grid map by a branch-and-bound searching method; generating a candidate online point queue according to the grid region occupation probability scores of all the online points; traversing the candidate online point queue through a multimodal detection method, and determining the grid area distribution quantity of the candidate online points in the candidate online point queue; determining target online points according to the grid area distribution quantity of the candidate online points in the candidate online point queue; and outputting the on-line point of the target to the moving vehicle for repositioning.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A global repositioning method for a mobile vehicle, comprising:
constructing a probability grid map of the moving vehicle;
determining all online points of the mobile vehicle in the probability grid map by a branch-and-bound searching method;
generating a candidate online point queue according to the grid region occupation probability scores of all the online points;
traversing the candidate online point queue through a multimodal detection method, and determining the grid area distribution quantity of the candidate online points in the candidate online point queue;
determining target online points according to the grid area distribution quantity of the candidate online points in the candidate online point queue;
and outputting the target online point to the mobile vehicle for repositioning.
2. The global repositioning method of a mobile vehicle of claim 1, wherein the step of determining a target online point based on a grid area distribution number of candidate online points in the candidate online point queue comprises:
and determining that all the candidate online points in the candidate online point queue are distributed in the same grid area, and taking the candidate online point with the highest grid area occupation probability score in the grid area as the target online point.
3. The global repositioning method of a mobile vehicle of claim 2, further comprising:
and determining that all the candidate online points in the candidate online point queue are distributed in at least two different grid areas, and outputting invalid prompting information of the candidate online points.
4. The global repositioning method of a mobile vehicle of claim 1, wherein the step of generating a candidate online point queue based on grid area occupancy probability scores for all of the online points comprises:
traversing all the online points;
determining that the grid area occupation probability score of the online points is larger than a target threshold value, and recording the corresponding online points to a candidate online point queue;
and determining that the grid region occupation probability score of the online points is smaller than or equal to a target threshold value, and ignoring the corresponding online points.
5. The global repositioning method of a mobile vehicle of claim 4, wherein determining the target threshold comprises:
and determining the target threshold according to the product of the highest score of the grid region occupation probability in all the online points and the set coefficient.
6. The global repositioning method of a mobile vehicle according to any one of claims 1-5, wherein the step of constructing a probability grid map of the mobile vehicle comprises:
controlling the mobile vehicle to move from the starting point of the target area to all areas of the target area, and acquiring point cloud information of all areas;
and generating the probability grid map according to the point cloud information.
7. The global repositioning method of a mobile vehicle of claim 6, wherein the step of generating the probability grid map from the point cloud information comprises:
initializing a probability grid map when the target area is online last time by taking the starting point of the target area as an origin;
converting the point cloud information of each frame by a ray tracing method;
and sequentially inserting the converted point cloud information into the initialized probability grid map, updating the initialized probability grid map, and generating the probability grid map constructed by all the point cloud information.
8. A global repositioning apparatus for a mobile vehicle, comprising:
the construction module is used for constructing a probability grid map of the mobile vehicle;
a first determining module, configured to determine all online points of the mobile vehicle in the probability grid map by using a branch-and-bound searching method;
the generation module is used for generating a candidate online point queue according to the grid region occupation probability scores of all the online points;
the second determining module is used for traversing the candidate online point queue through a multimodal detection method and determining the grid area distribution quantity of the candidate online points in the candidate online point queue;
the third determining module is used for determining target online points according to the grid area distribution quantity of the candidate online points in the candidate online point queue;
and the output module is used for outputting the target online point to the mobile vehicle for repositioning.
9. A mobile vehicle characterized in that it uses the global repositioning method of a mobile vehicle according to any of claims 1-7.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the global repositioning method of a mobile vehicle according to any of claims 1-7 when executing the program.
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| CN202311627438.8A CN117629225A (en) | 2023-11-30 | 2023-11-30 | Global repositioning method and device for mobile vehicle, mobile vehicle and equipment |
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